<mujoco model="drawer">
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="1 5"/>

    <asset>
        <material name="drawer_col" rgba="0.96 0.26 0.33 0.5" shininess="0" specular="0"/>
        <material name="drawer_handle" rgba=".9 .9 .9 1" shininess="1" reflectance=".7" specular=".5"/>
        <material name="drawer_body" rgba="0.6 0.72 0.94 1" shininess="1" reflectance="1" specular=".5"/>
    </asset>

    <default>
        <default class="drawer_base">
            <joint armature="0.001" damping="2" frictionloss="2" limited="true"/>
            <geom conaffinity="0" contype="0" group="1" type="mesh"/>
            <position ctrllimited="true" ctrlrange="0 1.57"/>
            <default class="drawer_viz">
                <geom condim="4" type="mesh"/>
            </default>
            <default class="drawer_col">
                <geom conaffinity="1" condim="3" contype="1" group="4" material="drawer_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
            </default>
            <site type="sphere" size=".01" rgba="0 1 0 1" group="5"/>
        </default>
    </default>

    <asset>
        <mesh file="metaworld/drawer/drawer.stl" name="drawer"/>
        <mesh file="metaworld/drawer/drawercase.stl" name="drawercase"/>
        <mesh file="metaworld/drawer/drawerhandle.stl" name="drawerhandle"/>
    </asset>

    <worldbody>
        <body childclass="drawer_base" name="drawer_base" pos="0.33 -0.42 0.084" euler="0 0 3.14">
            <geom material="drawer_body" mesh="drawercase"/>
            <geom class="drawer_col" pos="-0.11 0 0" size="0.008 0.1 0.084" type="box" mass=".05"/>
            <geom class="drawer_col" pos="0.11 0 0" size="0.008 0.1 0.084" type="box" mass=".05"/>
            <geom class="drawer_col" pos="0 0.092 -0.008" size="0.102 0.008 0.076" type="box" mass=".05"/>
            <geom class="drawer_col" pos="0 -0.008 -0.07" size="0.102 0.092 0.014" type="box" mass=".05"/>
            <geom class="drawer_col" pos="0 0 0.076" size="0.102 0.1 0.008" type="box" mass=".05"/>
            <body name="drawer_link_virtual" pos="0 -0.01 0.006">
                <body name="drawer_link_virtual_handle" pos="0 -0.17 -0.01">
                    <site name="drawer_handle_center_target" pos="0 0 0.0001" group="5"/>
                </body>
            </body>
            <body name="drawer_link" pos="0 -0.01 0.006">
                <site name="drawer_handle_center" pos="0 -0.17 -0.01" group="5"/>
                <joint type="slide" range="-0.16 0" axis="0 1 0" name="drawer_slide" pos="0 0 0" damping="2"/>
                <geom material="drawer_body" mesh="drawer"/>
                <geom material="drawer_handle" mesh="drawerhandle" pos="0 -0.114 0" name="drawer_handle"/>
                <geom class="drawer_col" pos="0 -0.082 0.008" size="0.1 0.008 0.052" type="box" mass=".04"/>
                <geom class="drawer_col" pos="0 0.082 0.008" size="0.1 0.008 0.052" type="box" mass=".04"/>
                <geom class="drawer_col" pos="-0.092 0 0.008" size="0.008 0.074 0.052" type="box" mass=".04"/>
                <geom class="drawer_col" pos="0.092 0 0.008" size="0.008 0.074 0.052" type="box" mass=".04"/>
                <geom class="drawer_col" pos="0 0 -0.052" size="0.1 0.09 0.008" type="box" mass=".04"/>
                <geom class="drawer_col" euler="1.571 0 0" pos="-0.05 -0.12 0.0" size="0.009 0.03" type="capsule" mass=".06"/>
                <geom class="drawer_col" euler="0 1.57 0" pos="0 -0.15 0" size="0.009 0.05" type="capsule" mass=".06"/>
                <geom class="drawer_col" euler="1.57 0 0" pos="0.05 -0.12 0" size="0.009 0.03" type="capsule" mass=".06"/>
            </body>
        </body>
    </worldbody>
</mujoco>
