<?xml version="1.0" encoding="utf-8"?>
<mujoco model="stove">
  <asset>
        <mesh file="./burnerplate.stl" name="burnerplate"
	      scale="0.55 0.55 0.45" />
    </asset>
  <worldbody>
      <body>
        <body name="object" pos="0.3 0 0">
	    <body name="base" pos="0 0 0" quat="1 0 0 0">
              <geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="MatMetal" group="1" name="base"/>
	      <geom size="0.095 0.095 0.0005" pos="0 0 0.022" type="box" rgba="0 0 0 0" group="1" name="collision_burner"/>
	      <body name="burner">
	       	  <geom pos="0 0 0.025" type="mesh" mesh="burnerplate"
			material="MatMetal" group="1" name="burner"
			contype="0" conaffinity="0"/>
	       </body>
	       <site name="burner_on" pos="0. 0. 0.022" size="0.0625 0.0005"
	       	     rgba="1 0 0 1" type="cylinder"/>
          </body>
        </body>
        <site name="bottom_site" pos="0 0 -0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="horizontal_radius_site" pos="0.3 0 0" rgba="0 0 0 0" size="0.1"/>
      </body>
    </worldbody>
</mujoco>
