<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
        <texture name="T_plug_met" type="cube" file="../textures/metal1.png"/>

      <material name="plug_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="plug_green" rgba="0 .5 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="plug_black" rgba=".25 .25 .25 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="plug_white" rgba=".72 .72 .7 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="plug_gold" rgba=".65 .51 .24 1" shininess="1" reflectance=".7" specular=".5"/>

      <material name="plug_metal" rgba=".65 .65 .65 1" texture="T_plug_met" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>

      <default class="plug_base">
          <joint armature="0.001" damping="2" limited="true"/>
          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
          <position ctrllimited="true" ctrlrange="0 1.57"/>
          <default class="plug_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="plug_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="plug_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/plug/plug_head.stl" name="plug_head"/>
        <mesh file="../objects/meshes/plug/plug.stl" name="plug"/>
        <mesh file="../objects/meshes/plug/plug_wall.stl" name="plug_wall"/>
        <mesh file="../objects/meshes/plug/plug_plastic.stl" name="plug_plastic"/>
    </asset>

</mujocoinclude>
