<mujocoinclude>

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

    <asset>
        <texture name="T_hinge_wood" type="cube" height="1" width="1" file="../textures/wood1.png"/>
        <texture name="T_hinge_metal" type="cube" height="1" width="1" file="../textures/metal1.png"/>

        <material name="M_hinge_wood" texture="T_hinge_wood" texrepeat="3 3" reflectance="0.7" shininess=".4" texuniform="false"/>
        <material name="M_hinge_metal" texture="T_hinge_metal" texrepeat="3 3" reflectance="0.7" shininess=".4" texuniform="false"/>
        <material name="M_hinge_blue" rgba=".46 .5 .6 1" reflectance="0.7" shininess=".4"/>
        <material name="hinge_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
    </asset>

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

</mujocoinclude>
