<mujocoinclude>

    <option gravity="0 0 0" />
    <visual>
        <headlight ambient="0.5 0.5 0.5"  />
    </visual>

    <compiler inertiafromgeom="auto" angle="radian" coordinate="local" eulerseq="XYZ"/>
    <size njmax="6000" nconmax="6000"/>

    <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>

    <!-- assets -->
    <asset>
        <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" />

        <texture type="skybox" builtin="gradient" rgb1=".50 .495 .48" rgb2=".50 .495 .48" width="32" height="32"></texture>
        <texture file="marble.png" name="marble" />
        <texture file="navy_blue.png" name="navy_blue" />
        <texture file="wood_light.png" name="table_texture" type="2d"/>
        <texture file="wood_light.png" name="wood_texture"/>
        <texture file="tennis.png" name="tennis_green"/>
        <texture file="light_wood_v3.png" name="light_wood_v3" type="2d"/>

        <material name="marble" shininess="0.3" rgba="0.9 0.9 0.9 1" specular="1" texture="marble"/>
        <material name="navy_blue" shininess="0.3" rgba="0.9 0.9 0.9 1" specular="1" texture="navy_blue"/>
        <material name="tennis_green" shininess="0.3" rgba="0.9 0.9 0.9 1" specular="1" texture="tennis_green"/>
        <material name="wood_material" rgba="1 1 1 1" shininess="0.1" specular="0.4" texture="wood_texture" />
        <material name="table_material" rgba="1 1 1 1" shininess="0.1" specular="0.4" texture="table_texture" />
        <material name="light_wood_v3" shininess=".1" texture="light_wood_v3" specular="0.4"/>
    </asset>

    <!-- defaults -->
    <default>
        <joint limited="true"
               damping="10"
               frictionloss="0.001"
               margin="0.01"
               armature=".1"
               user="0"/>
        <geom solref="0.02 1" solimp="1 1 0"/>
        <motor ctrllimited="true" ctrlrange="-1 1"/>
        <general ctrllimited="true" ctrlrange="-1 1" dyntype="none" gaintype="fixed"/>
    </default>

</mujocoinclude>
