<mujoco>

	<compiler angle="radian" coordinate="local" meshdir="./stls/dual_ur5_husky" texturedir="./textures"></compiler>

	<option timestep="2e-3"
			iterations="10"
			tolerance="1e-10"
			impratio="10"
			gravity="0 0 -9.81"
			solver="PGS"
			cone="elliptic" />
	
	<size nuserdata="100" njmax="500" nconmax="1000" nstack="600000" nuser_body="9" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_actuator="12" nuser_sensor="1" />

    <asset>
        <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
        <texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512"/>
        <material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
        
        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> -->
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <!-- <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> -->
        <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="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
        <material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>

        <mesh name="base_link" file="base_link.stl" />
        <mesh name="wheel" file="wheel.stl" />
        <mesh name="top_chassis" file="top_chassis.stl" />
        <mesh name="bumper" file="bumper.stl" />
        <mesh name="dual_arm_bulkhead" file="dual_arm_bulkhead.stl" />
        <mesh name="flir-ptu-simple" file="flir-ptu-simple.stl" />
        <mesh name="base" file="base.stl" />
        <mesh name="shoulder" file="shoulder.stl" />
        <mesh name="upperarm" file="upperarm.stl" />
        <mesh name="forearm" file="forearm.stl" />
        <mesh name="wrist1" file="wrist1.stl" />
        <mesh name="wrist2" file="wrist2.stl" />
        <mesh name="wrist3" file="wrist3.stl" />
        <mesh name="sick-lms1xx" file="sick-lms1xx.stl" />
        <mesh name="pointgrey_bumblebee2" file="pointgrey_bumblebee2.stl" />
        <mesh name="robotiq_fts300" file="robotiq_fts300.stl" />
        <mesh name="link_0" file="link_0.STL" />
        <mesh name="link_1" file="link_1.STL" />
        <mesh name="link_2" file="link_2.STL" />
        <mesh name="link_3" file="link_3.STL" />
        <mesh name="palm" file="palm.STL" />
        <!-- from Standford robosuite -->
        <mesh name="collision_link_0" file="collision_link_0.STL" />
        <mesh name="collision_link_1" file="collision_link_1.STL" />
        <mesh name="collision_link_2" file="collision_link_2.STL" />
        <mesh name="collision_link_3" file="collision_link_3.STL" />
        <mesh name="collision_palm" file="collision_palm.STL" />

    </asset>

    <asset>
        <mesh file="can.stl" name="can_mesh" scale="2.0 2.0 2.0" />
        <texture file="can.png" name="tex-can"/>
        <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true"/>
    </asset>

    <equality>
        <!-- <weld body1="gripper_l:mocap" body2="l_gripper_palm_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld> -->
        <!-- <weld body2="gripper_r:mocap" body1="r_gripper_palm_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld> -->
        <!-- <weld body2="gripper_r:mocap" body1="ee_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld> -->
        <!-- <weld body2="gripper_r:mocap" body1="object0" solimp="0.9 0.95 0.001" solref="0.02 1"></weld> -->
    </equality>

    <contact>
        <!-- <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude> -->
        <!-- <exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude> -->
        <!-- <exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude> -->
        <!-- <exclude body1="robot0:base_link" body2="r_ur5_arm_shoulder_link" ></exclude> -->
        <!-- <exclude body1="r_ur5_arm_shoulder_link" body2="r_ur5_arm_upper_arm_link" ></exclude> -->
        <!-- <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude>
        <exclude body1="" body2="" ></exclude> -->

    </contact>

    <visual>
        <map fogstart="3" fogend="5" force="0.1" znear="0.1"/>
        <quality shadowsize="2048" offsamples="8"/>
        <global offwidth="800" offheight="800"/>
    </visual>    
    
</mujoco>
