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<?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>
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