<mujoco>
    <compiler angle="radian" meshdir="./stls" />
    <option timestep="0.002" integrator="Euler" />
    <size njmax="500" nconmax="200" />

    <default>
        <default class="yumi_arm_class">
            <joint armature="80" damping="1000"/>

            <default class="yumi_gripper_class">
                <geom condim="4" margin="0.000" friction="1 0.95 0.01" solimp="0.99 0.99 0.01" solref="0.01 1"/>
                <joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"/>
            </default>
        </default>
    </default>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"/>
        <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"/>
        <material name="block_mat_target" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0.3"/>

        <mesh name="coarse_body" file="coarse_body.stl" />
        <mesh name="coarse_link_1" file="coarse_link_1.stl" />
        <mesh name="coarse_link_2" file="coarse_link_2.stl" />
        <mesh name="coarse_link_3" file="coarse_link_3.stl" />
        <mesh name="coarse_link_4" file="coarse_link_4.stl" />
        <mesh name="coarse_link_5" file="coarse_link_5.stl" />
        <mesh name="coarse_link_6" file="coarse_link_6.stl" />
        <mesh name="coarse_link_7" file="coarse_link_7.stl" />
        <mesh name="base" file="base.stl" />
        <mesh name="finger" file="finger.stl" />
    </asset>
</mujoco>
