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

      <material name="btn_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="btn_red" rgba=".6 0 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="btn_yellow" rgba=".7 .5 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="btn_black" rgba=".15 .15 .15 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="btn_metal" rgba=".8 .8 .8 1" texture="T_btn" shininess="1" reflectance="1" specular="1"/>

    </asset>
    <default>

      <default class="buttonbox_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="buttonbox_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="buttonbox_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="btn_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/buttonbox/stopbot.stl" name="stopbot"/>
        <mesh file="../objects/meshes/buttonbox/stopbutton.stl" name="stopbutton"/>
        <mesh file="../objects/meshes/buttonbox/stopbuttonrim.stl" name="stopbuttonrim"/>
        <mesh file="../objects/meshes/buttonbox/stopbuttonrod.stl" name="stopbuttonrod"/>
        <mesh file="../objects/meshes/buttonbox/stoptop.stl" name="stoptop"/>
    </asset>

</mujocoinclude>
