<?xml version="1.0"?>
<mujoco model="kitchen">
  <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
  <include file="../scenes/basic_scene.xml"/>
  <include file="../kitchen/assets/oven_asset.xml"/>
  <include file="../kitchen/assets/counters_asset.xml"/>
  <include file="../kitchen/assets/backwall_asset.xml"/>
  <include file="../kitchen/assets/slidecabinet_asset.xml"/>
  <include file="../kitchen/assets/hingecabinet_asset.xml"/>
  <include file="../kitchen/assets/microwave_asset.xml"/>
  <include file="../kitchen/assets/kettle_asset.xml"/>
  <worldbody>
    <body name="kitchen" pos="0 0 0">
      <body name="counters1" pos="0 0 0">
        <include file="../kitchen/assets/counters_chain.xml"/>
      </body>
      <body name="oven" pos="0 0 0">
        <include file="../kitchen/assets/oven_chain.xml"/>
      </body>
      <body name="backwall" pos="0 0 0">
        <include file="../kitchen/assets/backwall_chain.xml"/>
      </body>
      <body name="slidecabinet" pos="0.098 0.28 2.61">
        <include file="../kitchen/assets/slidecabinet_chain.xml"/>
      </body>
      <body name="hingecabinet1" pos="-1.0 -1.0 2.6" euler="0 0 1.57">
        <include file="../kitchen/assets/hingecabinet_chain.xml"/>
      </body>
      <body name="microwave" pos="-0.892 -0.96 2.025" euler="0 0 1.57">
        <include file="../kitchen/assets/microwave_chain.xml"/>
      </body>
    </body>
    <body name="kettle" pos="-0.169 0 1.626">
      <freejoint/>
      <include file="../kitchen/assets/kettle_chain.xml"/>
    </body>
  </worldbody>
</mujoco>
