<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="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>
        <material name="robot0:gripper_finger_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
        <material name="robot0:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
        <material name="robot0:arm_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
        <material name="robot0:head_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
        <material name="robot0:torso_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
        <material name="robot0:base_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
    </asset>

    <equality>
        <!--<weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.01 0.95 0.0001" solref="0.2 0.2"></weld>-->
        <!--<weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.94 0.95 0.01" solref="0.2 0.3"></weld>-->
        <!-- based on http://www.mujoco.org/forum/index.php?threads/2dof-reachers-fingertip-doesnt-follow-the-mocap-body.3742/ change the weld to connect -->
        <!--<connect body1="robot0:mocap" body2="robot0:gripper_link" anchor="0.9 0.95 0.0" solimp="0.01 0.9 0.001" solref="0.02 1"/>-->
        <!-- based on http://www.mujoco.org/forum/index.php?threads/2dof-reachers-fingertip-doesnt-follow-the-mocap-body.3742/ change the weld to connect -->
        <connect body1="robot0:mocap" body2="robot0:gripper_link" anchor="0.35 0.0 0.0" solimp="0.01 0.9 0.001" solref="0.004 1"/>

    </equality>

    <contact>
        <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>
        <!--<exclude body1="rotator" body2="base_link"></exclude>-->
        <!--<exclude body1="H_frame_rotator" body2="V_frame_rotator"></exclude>-->
        <!--<exclude body1="rotator" body2="V_frame_rotator"></exclude>-->
        <!--<exclude body1="base_link" body2="V_frame_rotator"></exclude>-->
        <!--<exclude body1="base_link" body2="H_frame_rotator"></exclude>-->
    </contact>

    <default>
        <default class="robot0:fetch">
            <geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
            <joint armature="1" damping="10" frictionloss="0" stiffness="0"></joint>

            <default class="robot0:fetchGripper">
                <geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom>
                <joint armature="100" damping="1000" limited="true" solimplimit="0.01 0.999 0.01" solreflimit="0.01 1" type="slide"></joint>
            </default>

            <default class="robot0:grey">
                <geom rgba="0.356 0.361 0.376 1.0"></geom>
            </default>
            <default class="robot0:blue">
                <geom rgba="0.086 0.506 0.767 1.0"></geom>
            </default>
        </default>
    </default>
</mujoco>
