<mujocoinclude>

    <compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/>

    <asset>
        <mesh file="../kitchen/meshes/micro.stl" name="micro"/>
        <mesh file="../kitchen/meshes/microdoor.stl" name="microdoor"/>
        <mesh file="../kitchen/meshes/microbutton.stl" name="microbutton"/>
        <mesh file="../kitchen/meshes/microfeet.stl" name="microfeet"/>
        <mesh file="../kitchen/meshes/microhandle.stl" name="microhandle"/>
        <mesh file="../kitchen/meshes/microwindow.stl" name="microwindow"/>

        <texture name="T_micro_metal" type="cube" height="1" width="1" file="../kitchen/textures/metal1.png"/>

        <material name="micro_metal" rgba="1 1 1 1" texture="T_micro_metal" texrepeat="3 3" reflectance="1" shininess="1" texuniform="false"/>
        <material name="micro_black" rgba=".2 .2 .2 1" reflectance="1" shininess="1"/>
        <material name="micro_window" rgba=".4 .4 .4 .25" reflectance="1" shininess="1"/>
        <material name="micro_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
    </asset>

    <default>
        <default class="microwave">
            <joint damping="2" frictionloss="2" armature=".01" limited="true"/>
            <geom conaffinity="0" contype="0" group="1" material="micro_black" type="mesh"/>
            <default class="micro_collision">
                <geom conaffinity="1" condim="3" contype="0" group="4" margin="0.001" material="micro_collision_blue" solimp=".8 .9 .01" solref=".02 1"/>
            </default>
        </default>
    </default>

</mujocoinclude>
