<mujocoinclude>
<!-- =================================================
    Copyright 2019 Vikash Kumar
    Model   :: oven (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com)
    Details :: https://github.com/vikashplus/furniture_sim
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
    <light class="oven" name="ovenlighta" pos="0 .2 2.5" dir="0 -.02 -.1" attenuation="0.05 0.05 0.05" cutoff="75" diffuse=".7 .65 .65" specular=".3 .3 .3"/>

    <body name="ovenroot" childclass="oven" pos="0.115 -0.2921 0.9834">
        <geom material="oven_black" mesh="burnerplate" pos="-0.24 -0.119 0.629"/>
        <geom material="oven_black" mesh="burnerplate" pos="-0.237 0.322 0.629"/>
        <geom material="oven_black" mesh="burnerplate" pos="0.204 0.322 0.629"/>
        <geom material="oven_black" mesh="burnerplate" pos="0.206 -0.119 0.629"/>
        <geom material="oven_black" euler="1.57 0 0" pos="-.215 -0.36 -0.682" size="0.018 0.03" type="cylinder"/>
        <geom material="oven_black" euler="1.57 0 0" pos=".184 -0.36 -0.682" size="0.018 0.03" type="cylinder"/>
        <geom material="oven_black" euler="0 1.57 0" pos="-0.015 -0.39 -0.682" size="0.022 0.28" type="cylinder"/>
        <geom material="oven_black" euler="1.57 0 0" pos="-.215 -0.36 0.254" size="0.018 0.03" type="cylinder"/>
        <geom material="oven_black" euler="1.57 0 0" pos=".184 -0.36 0.254" size="0.018 0.03" type="cylinder"/>
        <geom material="oven_black" euler="0 1.57 0" pos="-0.015 -0.39 0.254" size="0.022 0.28" type="cylinder"/>
        <geom material="oven_black" mesh="oventop" pos="-0.017 0.275 0.607"/>
        <geom material="oven_black" mesh="ovenwindow" pos="0.9793 0.2921 -1.1877"/>
        <geom material="oven_black" pos="-0.011 -.327 -.05" size="0.35 0.016 0.22" type="box"/>
        <geom mesh="stoverim" pos="0.203 0.323 0.619"/>
        <geom mesh="stoverim" pos="-0.24 -0.12 0.619"/>
        <geom mesh="stoverim" pos="-0.237 0.323 0.619"/>
        <geom mesh="stoverim" pos="0.207 -0.12 0.619"/>
        <geom pos="-0.017 -.326 .455" size="0.5 0.016 0.12" type="box"/>
        <geom pos="-0.017 -.326 -.795" size="0.5 0.016 0.185" type="box"/>
        <geom pos="-0.017 -.326 -.14" size="0.5 0.016 0.465" type="box"/>
        <geom pos="-0.017 0.295 -0.2" size="0.5 0.602 0.78" type="box"/>

        <geom class="oven_collision" pos="-0.017 0.28 -0.175" size="0.5 0.625 0.81" type="box" mass="5"/>
        <geom class="oven_collision" euler="1.57 0 0" pos="-.215 -0.36 -0.682" size="0.018 0.03" type="cylinder" mass=".2"/>
        <geom class="oven_collision" euler="1.57 0 0" pos=".184 -0.36 -0.682" size="0.018 0.03" type="cylinder" mass=".2"/>
        <geom class="oven_collision" euler="0 1.57 0" pos="-0.015 -0.39 -0.682" size="0.022 0.28" type="cylinder" mass=".2"/>
        <geom class="oven_collision" euler="1.57 0 0" pos="-.215 -0.36 0.254" size="0.018 0.03" type="cylinder" mass=".2"/>
        <geom class="oven_collision" euler="1.57 0 0" pos=".184 -0.36 0.254" size="0.018 0.03" type="cylinder" mass=".2"/>
        <geom class="oven_collision" euler="0 1.57 0" pos="-0.015 -0.39 0.254" size="0.022 0.28" type="cylinder" mass=".2"/>
        <body name="knob 1" euler="1.57 0 0" pos="-0.148 0.22 1.243">
            <joint name="knob1_joint" axis="0 0 1" type="hinge" limited="true" range="-1.57 0"/>
            <geom type="box" pos="0 0 .038" size=".014 .048 .018"/>
            <geom type="cylinder" pos="0 0 .013" size=".05 .008"/>
            <geom type="cylinder" pos="0 0.048 .037" size=".014 .018" rgba="1 0 0 1"/>

            <geom class="oven_collision" type="box" pos="0 0 .038" size=".014 .048 .018" mass=".01"/>
            <geom class="oven_collision" type="cylinder" pos="0 0 .013" size=".05 .008" mass=".01"/>
            <site type="sphere" name="knob1_site" pos="0 0 .038" size=".01" group="3" rgba="1 1 0 1"/>
        </body>
        <body name="Burner 1" pos="0.206 -0.119 0.61">
            <inertial pos="0 0 0" mass=".01" diaginertia="0.001 0.001 0.001"/>
            <joint name="burner1_joint" axis="0 0 -1" type="slide" limited="true" range="-.009 0"/>
            <geom material="oven_burner" size="0.1 0.01" type="cylinder"/>
        </body>
        <body name="knob 2" euler="1.57 0 0" pos="-0.271 0.22 1.243">
            <joint name="knob2_joint" axis="0 0 1" type="hinge" limited="true" range="-1.57 0"/>
            <geom type="box" pos="0 0 .038" size=".014 .048 .018"/>
            <geom type="cylinder" pos="0 0 .013" size=".05 .008"/>
            <geom type="cylinder" pos="0 0.048 .037" size=".014 .018" rgba="1 0 0 1"/>

            <geom class="oven_collision" type="box" pos="0 0 .038" size=".014 .048 .018" mass=".01"/>
            <geom class="oven_collision" type="cylinder" pos="0 0 .013" size=".05 .008" mass=".01"/>
            <site type="sphere" name="knob2_site" pos="0 0 .038" size=".01" group="3" rgba="0 0 1 1"/>
        </body>
        <body name="Burner 2" pos="-0.24 -0.119 0.61">
            <inertial pos="0 0 0" mass=".01" diaginertia="0.001 0.001 0.001"/>
            <joint name="burner2_joint" axis="0 0 -1" type="slide" limited="true" stiffness="1" range="-.009 0"/>
            <geom material="oven_burner" size="0.1 0.01" type="cylinder" group="1"/>
        </body>
        <body name="knob 3" euler="1.57 0 0" pos="-0.148 0.22 1.357">
            <joint name="knob3_joint" axis="0 0 1" type="hinge" limited="true" range="-1.57 0"/>
            <geom type="box" pos="0 0 .038" size=".014 .048 .018"/>
            <geom type="cylinder" pos="0 0 .013" size=".05 .008"/>
            <geom type="cylinder" pos="0 0.048 .037" size=".014 .018" rgba="1 0 0 1"/>

            <geom class="oven_collision" type="box" pos="0 0 .038" size=".014 .048 .018" mass=".01"/>
            <geom class="oven_collision" type="cylinder" pos="0 0 .013" size=".05 .008" mass=".01"/>
            <site type="sphere" name="knob3_site" pos="0 0 .038" size=".01" group="3" rgba="0 1 0 1"/>
        </body>
        <body name="Burner 3" pos="0.204 0.322 0.61">
            <inertial pos="0 0 0" mass=".01" diaginertia="0.001 0.001 0.001"/>
            <joint name="burner3_joint" axis="0 0 -1" type="slide" limited="true" stiffness="1" range="-.009 0"/>
            <geom material="oven_burner" size="0.1 0.01" type="cylinder" group="1"/>
        </body>
        <body name="knob 4" euler="1.57 0 0" pos="-0.271 0.22 1.357">
            <joint name="knob4_joint" axis="0 0 1" type="hinge" limited="true" range="-1.57 0"/>
            <geom type="box" pos="0 0 .038" size=".014 .048 .018"/>
            <geom type="cylinder" pos="0 0 .013" size=".05 .008"/>
            <geom type="cylinder" pos="0 0.048 .037" size=".014 .018" rgba="1 0 0 1"/>

            <geom class="oven_collision" type="box" pos="0 0 .038" size=".014 .048 .018" mass=".01"/>
            <geom class="oven_collision" type="cylinder" pos="0 0 .013" size=".05 .008" mass=".01"/>
            <site type="sphere" name="knob4_site" pos="0 0 .038" size=".01" group="3" rgba="1 0 0 1"/>
        </body>
        <body name="Burner 4" pos="-0.237 0.322 0.61">
            <inertial pos="0 0 0" mass=".01" diaginertia="0.001 0.001 0.001"/>
            <joint name="burner4_joint" axis="0 0 -1" type="slide" limited="true" stiffness="1" range="-.009 0"/>
            <geom material="oven_burner" size="0.1 0.01" type="cylinder" group="1"/>
        </body>
    </body>
    <body name="hoodroot" pos="0.1 0.188 2.33" childclass="oven">
        <geom material="oven_black" mesh="hood" pos="-0.1 -0.2896 -2.329"/>
        <geom class="oven_collision" pos="0 0.073 -0.046" size="0.502 0.336 0.12" type="box" mass="2"/>
        <body name="lightswitchbaseroot" pos="-0.4 -0.2473 -0.05" >
            <geom mesh="lightswitchbase" pos="0 -0.0123 0" euler="-1.57 0 0"/>
            <body name="lightswitchroot">
                <inertial pos="-0.0046 0.35 0.0131" mass=".1" diaginertia="0.001 0.001 0.001"/>
                <joint axis="0 0 1" limited="true" name="lightswitch_joint" frictionloss="1" range="-.7 0"/>
                <geom pos="0.0252 -0.06 0" euler="-1.57 -.4 0" size="0.02 0.035" type="capsule"/>
                <geom class="oven_collision" euler="-1.57 -.4 0" pos="0.0263 -0.065 0" size="0.021 0.03" type="capsule" mass=".01"/>
                <site type="sphere" name="light_site" pos="0.0315 -0.075 0" size=".01" group="3" rgba="1 0 0 1"/>
            </body>
        </body>
        <body name="lightblock_hinge" pos="-0.0044 -0.3 -0.1361">
            <inertial pos="-0.0046 0.35 0.0131" mass=".01" diaginertia="0.001 0.001 0.001"/>
            <joint axis="0 0 -1" type="slide" limited="true" name="light_joint" frictionloss="1" range="-.05 0"/>
            <geom material="oven_block" pos="-0.008 0.4 -0.01" size="0.4 0.3 0.015" type="box"/>
        </body>
    </body>
</mujocoinclude>
