<mujocoinclude>
    <body name="hingecab" childclass="hingecabinet">
        <geom material="M_hinge_blue" size="0.04 0.3 0.2" type="box"/>
        <geom material="M_hinge_blue" pos="0.38 0 0" size="0.02 0.3 0.2" type="box"/>
        <geom material="M_hinge_blue" pos="-0.38 0 0" size="0.02 0.3 0.2" type="box"/>
        <geom material="M_hinge_blue" pos="-0.2 0 0.18" size="0.16 0.3 0.02" type="box"/>
        <geom material="M_hinge_blue" pos="-0.2 0 -0.18" size="0.16 0.3 0.02" type="box"/>
        <geom material="M_hinge_blue" pos="0.2 0 -0.18" size="0.16 0.3 0.02" type="box"/>
        <geom material="M_hinge_blue" pos="0.2 0 0.18" size="0.16 0.3 0.02" type="box"/>
        <geom material="M_hinge_blue" pos="-0.2 0.28 0" size="0.16 0.02 0.16" type="box"/>
        <geom material="M_hinge_blue" pos="0.2 0.28 0" size="0.16 0.02 0.16" type="box"/>

        <geom class="hinge_collision" size="0.04 0.3 0.2" type="box" mass=".3"/>
        <geom class="hinge_collision" pos="0.38 0 0" size="0.02 0.3 0.2" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="-0.38 0 0" size="0.02 0.3 0.2" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="-0.2 0 0.18" size="0.16 0.3 0.02" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="-0.2 0 -0.18" size="0.16 0.3 0.02" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="0.2 0 -0.18" size="0.16 0.3 0.02" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="0.2 0 0.18" size="0.16 0.3 0.02" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="-0.2 0.28 0" size="0.16 0.02 0.16" type="box" mass=".2"/>
        <geom class="hinge_collision" pos="0.2 0.28 0" size="0.16 0.02 0.16" type="box" mass=".2"/>
        <body name="hingeleftdoor" pos="-0.38 -0.32 0">
            <joint axis="0 0 1" name="leftdoorhinge" range="-1.57 0"/>
            <geom material="M_hinge_metal" pos="0.302 -0.128 0" size="0.022 0.16" type="cylinder"/>
            <geom material="M_hinge_metal" pos="0.302 -0.061 0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder"/>
            <geom material="M_hinge_metal" pos="0.302 -0.061 -0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder"/>
            <geom material="M_hinge_blue" pos="0.184 -.015 0" size="0.193 0.03 0.2" type="box"/>

            <geom class="hinge_collision" pos="0.184 -.015 0" size="0.193 0.03 0.2" type="box" mass=".2"/>
            <geom class="hinge_collision" pos="0.302 -0.128 0" size="0.022 0.16" type="cylinder" mass=".1"/>
            <geom class="hinge_collision" pos="0.302 -0.061 0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder" mass=".02"/>
            <geom class="hinge_collision" pos="0.302 -0.061 -0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder" mass=".02"/>
            <site type="sphere" name="hinge_site1" pos="0.302 -0.128 0" size=".01" group="3" rgba="1 0 0 1"/>
        </body>
        <body name="hingerightdoor" pos="0.38 -0.32 0">
            <joint axis="0 0 1" name="rightdoorhinge" range="0 1.57"/>
            <geom material="M_hinge_blue" pos="-0.185 -.015 0" size="0.193 0.03 0.2" type="box"/>
            <geom material="M_hinge_metal" pos="-0.302 -0.128 0" size="0.022 0.16" type="cylinder"/>
            <geom material="M_hinge_metal" pos="-0.302 -0.061 -0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder"/>
            <geom material="M_hinge_metal" pos="-0.302 -0.061 0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder"/>

            <geom class="hinge_collision" pos="-0.302 -0.128 0" size="0.022 0.16" type="cylinder" mass=".1"/>
            <geom class="hinge_collision" pos="-0.302 -0.061 -0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder" mass=".02"/>
            <geom class="hinge_collision" pos="-0.302 -0.061 0.114" euler="1.57 0 0" size="0.019 0.053 0.02" type="cylinder" mass=".02"/>
            <geom class="hinge_collision" pos="-0.185 -.015 0" size="0.193 0.03 0.2" type="box" mass=".2"/>
            <site type="sphere" name="hinge_site2" pos="-0.302 -0.128 0" size=".01" group="3" rgba="0 1 0 1"/>
        </body>
    </body>
</mujocoinclude>
