<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>
