<?xml version="1.0" encoding="utf-8"?>
<!--
Usage:

<mujoco>
	<compiler meshdir="../meshes/sawyer" ...></compiler>
	<include file="shared_config.xml"></include>
    (new stuff)
	<worldbody>
		<include file="sawyer_xyz_base.xml"></include>
        (new stuff)
	</worldbody>
</mujoco>
-->

<mujoco>
    <asset>
        <texture name="wood" file="../../texture/wood.png" type="2d"/>
		<material shininess=".1" name="wood" texture="wood" specular="0.4"/>

        <texture name="real_door" file="../../texture/real_door.png" type="2d"/>
		<material shininess=".1" name="real_door" texture="real_door" specular=".4"/>

        <texture name="darkwood" file="../../texture/darkwood.png" type="2d"/>
		<material shininess=".1" name="darkwood" texture="darkwood" specular="0.4"/>

        <texture name="granite" file="../../texture/granite.png" type="2d"/>
		<material shininess=".1" name="granite" texture="granite" specular="0.4"/>

        <texture name="light_wood" file="../../texture/light_wood.png" type="2d"/>
		<material shininess=".1" name="light_wood" texture="light_wood" specular="0.4"/>

         <texture name="light_wood_v2" file="../../texture/light_wood_v2.png" type="2d"/>
		<material shininess=".1" name="light_wood_v2" texture="light_wood_v2" specular="0.4"/>

        <texture name="lightening" file="../../pattern/lightening.png" type="2d"/>
		<material shininess=".1" name="lightening" texture="lightening" specular="0.4"/>

        <texture name="mac" file="../../pattern/mac.png" type="2d"/>
		<material shininess=".1" name="mac" texture="mac" specular="0.4"/>

        <texture name="bronze" file="../../pattern/bronze.png" type="2d"/>
		<material shininess=".1" name="bronze" texture="bronze" specular="0.4"/>

        <texture name="metal" file="../../pattern/metal.png" type="2d"/>
		<material shininess=".1" name="metal" texture="metal" specular="0.4"/>

        <texture name="watermetal" file="../../pattern/watermetal.png" type="2d"/>
		<material shininess=".1" name="watermetal" texture="watermetal" specular="0.4"/>

        <texture name="woods" file="../../pattern/woods.png" type="2d"/>
		<material shininess=".1" name="woods" texture="woods" specular="0.4"/>

        <texture name="xpwall" file="../../pattern/xpwall.png" type="2d"/>
		<material shininess=".1" name="xpwall" texture="xpwall" specular="0.4"/>

        <texture name="checkerboard-dark" file="../../pattern/checkerboard-dark.png" type="2d"/>
		<material shininess=".1" name="checkerboard-dark" texture="checkerboard-dark" specular="0.4"/>

        <texture name="checkerboard-fancy" file="../../pattern/checkerboard-fancy.png" type="2d"/>
		<material shininess=".1" name="checkerboard-fancy" texture="checkerboard-fancy" specular="0.4"/>


        <texture type="skybox" builtin="gradient" rgb1=".8 1 1" rgb2=".6 1 1" width="32" height="32"></texture>
        <mesh name="pedestal" file="pedestal.stl" />
        <mesh name="base" file="base.stl" />
        <mesh name="l0" file="l0.stl" />
        <mesh name="head" file="head.stl" />
        <mesh name="l1" file="l1.stl" />
        <mesh name="l2" file="l2.stl" />
        <mesh name="l3" file="l3.stl" />
        <mesh name="l4" file="l4.stl" />
        <mesh name="l5" file="l5.stl" />
        <mesh name="l6" file="l6.stl" />
    </asset>

    <visual>
        <headlight ambient="0.5 0.5 0.5"  />
    </visual>

    <compiler angle="radian" meshdir="../../meshes/sawyer"/>
    <size njmax="500" nconmax="100"/>
    <option
            iterations="50"
            integrator="Euler"
            timestep="0.002"
            cone="elliptic"
    />

    <default>
        <joint limited="true"
               damping="1"
               stiffness="0"
               armature=".1"
               user="0"/>
        <geom solref="0.008 1"
              solimp="0.95 0.95 0.01"
              margin="0.001"
              user="0"
              />
        <motor ctrllimited="true" ctrlrange="-1 1"/>
        <position ctrllimited="true"/>

        <default class='0'>
            <geom friction="1 0.005 0.001" rgba=".75 .6 .5 1"
                  contype="1" conaffinity="0"/>
        </default>

        <default class='1'>
            <geom friction="1 0.005 0.001" rgba=".7 .6 .55 1"
                  contype="2" conaffinity="2"/>
        </default>

        <default class='arm'>
            <joint damping="5"/>
        </default>
    </default>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.01"></weld>
    </equality>
</mujoco>
