<?xml version="1.0"?>
<mujoco model="franka_kitchen">
  <size njmax="2000" nconmax="2000"/>
  <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/assets/oven_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/counters_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/backwall_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/slidecabinet_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/hingecabinet_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/microwave_asset.xml"/>
  <include file="../../adept_models/kitchen/assets/kettle_asset.xml"/>
  <visual>
    <global offwidth="2560" offheight="1920"/>
    <quality shadowsize="4096" offsamples="8"/>
    <map force="0.1" fogend="5"/>
  </visual>
  <compiler angle="radian" meshdir="../../adept_models/franka" texturedir="../../adept_models/franka"/>
  <compiler inertiafromgeom="auto" inertiagrouprange="3 5"/>
  <equality>
    <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 0 2.89" 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 0.5" euler="0 0 -.785"/>
      <geom type="box" group="1" pos="0 0 .142" size="0.02 0.10 0.03" contype="0" conaffinity="0" rgba=".9 .7 .95 0.5" 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 1.8" euler="0 0 1.57">
      <geom type="cylinder" size=".120 .90" pos="-.04 0 -0.90" class="panda_viz"/>
      <include file="../../adept_models/franka/assets/chain0.xml"/>
    </body>
    <body name="desk" pos="-0.1 0.75 0">
      <body name="counters1" pos="0 0 0">
        <include file="../../adept_models/kitchen/assets/counters_chain.xml"/>
      </body>
      <body name="oven" pos="0 0 0">
        <include file="../../adept_models/kitchen/assets/oven_chain.xml"/>
      </body>
      <body name="slidecabinet" pos="0.4 0.3 2.6">
        <include file="../../adept_models/kitchen/assets/slidecabinet_chain.xml"/>
      </body>
      <body name="hingecabinet" pos="-0.504 0.28 2.6">
        <include file="../../adept_models/kitchen/assets/hingecabinet_newchain.xml"/>
      </body>
      <body name="microwave" pos="-0.45 0.1 1.95">
        <include file="../../adept_models/kitchen/assets/toaster_chain.xml"/>
      </body>
      <body name="marker">
        <geom conaffinity="0" contype="0" group="1" size="0.05" type="sphere" mass="0.001"/>
      </body>
    </body>
  </worldbody>
  <keyframe>
    <key qpos="0.16 -1.76 1.84 -2.51 0.36 0.79 1.55 0.00 0.00 1.25561e-05 1.25561e-05 8.24417e-05 9.48283e-05 0 0"/>
  </keyframe>
</mujoco>
