<?xml version="1.0"?>
<mujoco model="franka_kitchen_real">
  <compiler angle="radian" meshdir="../../adept_models/franka" texturedir="../../adept_models/franka"/>
  <size njmax="1000" nconmax="1000"/>
  <include file="../../adept_models/scenes/basic_scene.xml"/>
  <include file="../../adept_models/franka/assets/assets.xml"/>
  <include file="../../adept_models/franka/assets/actuator0.xml"/>
  <include file="../../adept_models/kitchen_real/cabinet_assembly/assets/cabinet_hinge_dependencies.xml"/>
  <equality>
    <weld body1="vive_controller" body2="world" solref="0.02 1" solimp=".7 .95 0.050"/>
    <!-- <weld body1="vive_controller" body2="panda0_link7" solref="0.02 1" solimp=".4 .85 .1"/> -->
  </equality>
  <worldbody>
    <!-- Mocap -->
    <body name="vive_controller" mocap="true" pos="-0.440 -0.092 1.001" euler="-1.57 0 -.785">
      <geom type="box" group="2" pos="0 0 .142" size="0.02 0.10 0.03" contype="0" conaffinity="0" rgba=".9 .7 .95 .2" euler="0 0 -.785"/>
    </body>
    <site name="target" pos="0 0 0" size="0.1" rgba="0 2 0 .2"/>
    <camera name="left_cap" pos="-1.2 -0.5 1.8" quat="0.78 0.49 -0.22 -0.32"/>
    <camera name="right_cap" pos="1.2 -0.5 1.8" quat="0.76 0.5 0.21 0.35"/>
    <!-- Robot -->
    <body pos="0 0 .775" euler="0 0 1.57">
      <geom type="cylinder" size=".120 .4" pos="-.04 0 -.4"/>
      <include file="../../adept_models/franka/assets/chain0.xml"/>
    </body>
    <!-- Hinged cabinet -->
    <body pos="0.0 1.0 .775" euler="0 0 0">
      <include file="../../adept_models/kitchen_real/cabinet_assembly/assets/cabinet_link.xml"/>
    </body>
  </worldbody>
  <keyframe>
    <key qpos="0.012 0.02 -0.12 -0.39 -0.20 1.69 0.50 0.00 0.00 0.00"/>
  </keyframe>
</mujoco>
