<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="yellow_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.91 0.96 0.23 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>



        <!--<mesh name="base_link" file="torso_base_link.STL"/>
		<mesh name="base_link_collision" file="torso_base_link_collision.STL"/>
        <mesh name="PEDESTAL" file="base_PEDESTAL.STL"/>
		<mesh name="pedestal_link_collision" file="base_pedestal_link_collision.STL"/>
		<mesh name="H0" file="head_H0.STL"/>
		<mesh name="H1" file="head_H1.STL"/>
		<mesh name="S0" file="upper_shoulder_S0.STL"/>
		<mesh name="S1" file="lower_shoulder_S1.STL"/>
		<mesh name="E0" file="upper_elbow_E0.STL"/>
		<mesh name="E1" file="lower_elbow_E1.STL"/>
		<mesh name="W0" file="upper_forearm_W0.STL"/>
		<mesh name="W1" file="lower_forearm_W1.STL"/>
		<mesh name="W2" file="wrist_W2.STL"/>
		<mesh name="half_round_tip" file="electric_gripper_fingers_half_round_tip.STL" />
		<mesh name="electric_gripper_base" file="electric_gripper_base.STL" />
        <mesh name="extended_narrow" file="electric_gripper_fingers_extended_narrow.STL"/>
        <mesh name="paddle_tip" file="electric_gripper_fingers_paddle_tip.STL"/>
        <mesh file="gripper_link.STL" name="robot0:gripper_link"></mesh>-->

        <mesh name="base_link" file="torso/base_link.STL"/>
		<mesh name="base_link_collision" file="torso/base_link_collision.STL"/>
        <mesh name="PEDESTAL" file="base/PEDESTAL.STL"/>
		<mesh name="pedestal_link_collision" file="base/pedestal_link_collision.STL"/>
		<mesh name="H0" file="head/H0.STL"/>
		<mesh name="H1" file="head/H1.STL"/>
		<mesh name="S0" file="upper_shoulder/S0.STL"/>
		<mesh name="S1" file="lower_shoulder/S1.STL"/>
		<mesh name="E0" file="upper_elbow/E0.STL"/>
		<mesh name="E1" file="lower_elbow/E1.STL"/>
		<mesh name="W0" file="upper_forearm/W0.STL"/>
		<mesh name="W1" file="lower_forearm/W1.STL"/>
		<mesh name="W2" file="wrist/W2.STL"/>
		<mesh name="half_round_tip" file="electric_gripper/fingers/half_round_tip.STL" />
		<mesh name="electric_gripper_base" file="electric_gripper/electric_gripper_base.STL" />
        <mesh name="extended_narrow" file="electric_gripper/fingers/extended_narrow.STL"/>
        <mesh name="paddle_tip" file="electric_gripper/fingers/paddle_tip.STL"/>
        <mesh file="gripper_link.stl" name="robot0:gripper_link"></mesh>

      </asset>

    <equality>
        <weld body1="robot0:mocap" body2="robot0:left_gripper" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
    </equality>  

	<visual>
        <map fogstart="1.5" fogend="3"/>
		<quality shadowsize="2048"/>
	</visual>
	
   <default>
		<geom margin="0.001"/>
        <joint limited="true" damping="0.2" armature=".01"/>
		<default class="viz">
			<geom contype="0" conaffinity="0" group="1" type="mesh"/>
		</default>

                <!--<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="0.99 0.999 0.01" solreflimit="0.01 1" type="slide" />
                </default>-->



   </default>

   <contact>       
        <exclude body1="robot0:right_upper_shoulder" body2="robot0:torso"/>
		<exclude body1="robot0:right_upper_shoulder" body2="robot0:right_upper_elbow"/>
		<exclude body1="robot0:right_lower_shoulder" body2="robot0:torso"/>

		<exclude body1="robot0:left_upper_shoulder" body2="robot0:torso"/>
		<exclude body1="robot0:left_upper_shoulder" body2="robot0:left_upper_elbow"/>
		<exclude body1="robot0:left_lower_shoulder" body2="robot0:torso"/>
		
		<exclude body1="robot0:collision_head_link_1" body2="robot0:torso"/>
		<exclude body1="robot0:collision_head_link_2" body2="robot0:torso"/>
		<exclude body1="robot0:r_gripper_r_finger" body2="robot0:r_gripper_l_finger"/>
		<exclude body1="robot0:l_gripper_r_finger" body2="robot0:l_gripper_l_finger"/>
    </contact>
</mujoco>
