<?xml version='1.0' encoding='ASCII'?>
<robot name="Scene">
  <link name="microwave_corpus">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
      <mass value="0.037576"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual name="microwave_back">
      <geometry>
        <box size="0.58 0.04 0.35"/>
      </geometry>
      <origin xyz="0.0 0.17500000000000002 0.175" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_back_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <visual name="microwave_bottom">
      <geometry>
        <box size="0.41999999999999993 0.31 0.04"/>
      </geometry>
      <origin xyz="-0.039999999999999994 0.0 0.02" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_bottom_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <visual name="microwave_left">
      <geometry>
        <box size="0.04 0.31 0.31"/>
      </geometry>
      <origin xyz="-0.26999999999999996 0.0 0.155" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_left_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <visual name="microwave_right">
      <geometry>
        <box size="0.12 0.35000000000000003 0.35"/>
      </geometry>
      <origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_right_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <visual name="microwave_top">
      <geometry>
        <box size="0.45999999999999996 0.31 0.04"/>
      </geometry>
      <origin xyz="-0.06 0.0 0.32999999999999996" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_top_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <collision name="microwave_back">
      <geometry>
        <box size="0.58 0.04 0.35"/>
      </geometry>
      <origin xyz="0.0 0.17500000000000002 0.175" rpy="0.0 -0.0 0.0"/>
    </collision>
    <collision name="microwave_bottom">
      <geometry>
        <box size="0.41999999999999993 0.31 0.04"/>
      </geometry>
      <origin xyz="-0.039999999999999994 0.0 0.02" rpy="0.0 -0.0 0.0"/>
    </collision>
    <collision name="microwave_left">
      <geometry>
        <box size="0.04 0.31 0.31"/>
      </geometry>
      <origin xyz="-0.26999999999999996 0.0 0.155" rpy="0.0 -0.0 0.0"/>
    </collision>
    <collision name="microwave_right">
      <geometry>
        <box size="0.12 0.35000000000000003 0.35"/>
      </geometry>
      <origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/>
    </collision>
    <collision name="microwave_top">
      <geometry>
        <box size="0.45999999999999996 0.31 0.04"/>
      </geometry>
      <origin xyz="-0.06 0.0 0.32999999999999996" rpy="0.0 -0.0 0.0"/>
    </collision>
  </link>
  <link name="microwave_door">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
      <mass value="0.006439999999999999"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual name="microwave_door_panel">
      <geometry>
        <box size="0.45999999999999996 0.04 0.35"/>
      </geometry>
      <origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_door_panel_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <collision name="microwave_door_panel">
      <geometry>
        <box size="0.45999999999999996 0.04 0.35"/>
      </geometry>
      <origin xyz="0.22999999999999998 -0.02 0.175" rpy="0.0 -0.0 0.0"/>
    </collision>
  </link>
  <link name="microwave_handle">
    <inertial>
      <origin xyz="2.8041314993969983e-18 0.021059414371699177 3.0104447336038285e-11" rpy="0.0 -0.0 0.0"/>
      <mass value="0.20020137737179026652"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual name="microwave_door_handle">
      <geometry>
        <mesh filename="microwave_door_handle.obj"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
      <material name="microwave_door_handle_main_color">
        <color rgba="0.4 0.4 0.4 1.0"/>
      </material>
    </visual>
    <collision name="microwave_door_handle">
      <geometry>
        <mesh filename="microwave_door_handle.obj"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
    </collision>
  </link>
  <link name="world"/>
  <link name="microwave"/>
  <joint name="microwave_world_fixed_joint" type="fixed">
    <parent link="world"/>
    <child link="microwave"/>
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
  </joint>
  <joint name="microwave_door_joint" type="revolute">
    <parent link="microwave_corpus"/>
    <child link="microwave_door"/>
    <origin xyz="-0.29 -0.155 0.0" rpy="0.0 -0.0 0.0"/>
    <axis xyz="-0.0 -0.0 -1.0"/>
    <limit effort="100.0" velocity="100.0" lower="0" upper="3.141592653589793"/>
  </joint>
  <joint name="microwave_handle_joint" type="fixed">
    <parent link="microwave_door"/>
    <child link="microwave_handle"/>
    <origin xyz="0.41 -0.11000000000000001 0.175" rpy="-0.0 1.5707963267948966 0.0"/>
  </joint>
  <joint name="microwave_origin_joint" type="fixed">
    <parent link="microwave"/>
    <child link="microwave_corpus"/>
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0"/>
  </joint>
</robot>
