<?xml version="1.0" encoding="utf-8"?>
<mujoco model="sawyer">
   <include file="door_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>

        <body name="door" pos="0.1 0.65 0.1">
                <joint name="doorjoint" pos="-.21 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="-1.0472 0" damping="0.1" armature="0" />
                <geom type="box" pos="0 0 0" size="0.2 0.01 0.1"
                      rgba=".1 .1 .9 1" contype="2" conaffinity="2" />
                <!--front, parallel to door-->
                <geom type="box" pos="0.15 -0.15 0.05" size="0.05 0.01 0.02" rgba="0 0 0 1" contype="2" conaffinity="2" />
                <!--front-->
                <geom type="box" pos="0.19 -0.075 0.05" size="0.01 0.075 0.02" rgba="0 0 0 1" contype="2" conaffinity="2"/>
        </body>
    </worldbody>

    <actuator>
        <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor gear="100" joint="rc_close" name="slide"/>
    </actuator>

</mujoco>
