<mujoco>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
        <texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

        <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"></material>
        <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="block_true_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.5 0.0 1"></material>
        <material name="block_false_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.5 1"></material>
        <material name="block_0_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.9 0.0 1"></material>
        <material name="block_1_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.7 0.0 1"></material>
        <material name="block_2_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.5 0.0 1"></material>
        <material name="block_3_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.3 0.0 1"></material>
        <material name="block_4_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.1 0.0 1"></material>
        <material name="block_5_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.9 1"></material>
        <material name="block_6_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.7 1"></material>
        <material name="block_7_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.5 1"></material>
        <material name="block_8_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.3 1"></material>
        <material name="block_9_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.1 1"></material>
        <material name="puck_0_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.9 0.0 1"></material>
        <material name="puck_1_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.7 0.0 1"></material>
        <material name="puck_2_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.5 0.0 1"></material>
        <material name="puck_3_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.3 0.0 1"></material>
        <material name="puck_4_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.1 0.0 1"></material>
        <material name="puck_5_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.9 1"></material>
        <material name="puck_6_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.7 1"></material>
        <material name="puck_7_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.5 1"></material>
        <material name="puck_8_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.3 1"></material>
        <material name="puck_9_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.0 0.0 0.1 1"></material>
        <material name="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>

        <mesh name="robot0:base_link" file="base_link.STL" />
        <mesh name="robot0:shoulder_link" file="Shoulder_Link.STL" />
        <mesh name="robot0:halfarm1_link" file="HalfArm1_Link.STL" />
        <mesh name="robot0:halfarm2_link" file="HalfArm2_Link.STL" />
        <mesh name="robot0:forearm_link" file="ForeArm_Link.STL" />
        <mesh name="robot0:wrist1_link" file="Wrist1_Link.STL" />
        <mesh name="robot0:wrist2_link" file="Wrist2_Link.STL" />
        <mesh name="robot0:bracelet_link" file="Bracelet_Link.STL" />
        <mesh name="robot0:gripper_link" file="base.stl" scale="0.001 0.001 0.001" />
        <mesh name="robot0:gripper_driver_link" file="driver.stl" scale="0.001 0.001 0.001" />
        <mesh name="robot0:gripper_coupler_link" file="coupler.stl" scale="0.001 0.001 0.001" />
        <mesh name="robot0:gripper_follower_link" file="follower.stl" scale="0.001 0.001 0.001" />
        <mesh name="robot0:gripper_pad_link" file="pad.stl" scale="0.001 0.001 0.001" />
        <mesh name="robot0:gripper_spring_link" file="spring_link.stl" scale="0.001 0.001 0.001" />
        
    </asset>

    <equality>
        <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
    </equality>
    
    <!--
    <contact>
        <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>
        <exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude>
        <exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
    </contact>

    -->
    
    <default>
        <default class="robot0:fetch">
            <geom margin="0.001" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
            
            <default class="robot0:fetchGripper">
                <geom margin="0.001" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
            </default>
        </default>
    </default>
</mujoco>