<mujocoinclude>

    <light class="ovenlight" name="ovenlight" pos="0 .2 2.25" 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="knob_Joint_1" 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="burner_Joint_1" 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="knob_Joint_2" 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="burner_Joint_2" 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="knob_Joint_3" 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="burner_Joint_3" 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="knob_Joint_4" 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="burner_Joint_4" 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>
