<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
      <texture name="T_peg_wood" type="cube" file="../textures/wood1.png"/>

      <material name="peg_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="peg_green" rgba="0 .5 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="peg_black" rgba=".15 .15 .15 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="peg_wood" rgba=".55 .55 .55 1" texture="T_peg_wood" shininess="1" reflectance=".7" specular=".5"/>
    </asset>
    <default>
      <default class="peg_base">
          <!-- <joint armature="0.001" damping="2"/> -->
          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
          <default class="peg_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="peg_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>

      </default>
    </default>

</mujocoinclude>
