<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
        <texture name="T_lever_met" type="cube" file="../textures/metal1.png"/>

      <material name="lever_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="lever_blue" rgba="0 0 .5 1" shininess="1" reflectance="1" specular="1"/>
      <material name="lever_metal0" rgba=".65 .65 .65 1" texture="T_lever_met" shininess="1" reflectance=".7" specular=".5"/>
      <material name="lever_metal1" rgba=".35 .35 .35 1" texture="T_lever_met" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>

      <default class="lever_base">
          <joint armature="0.001" damping="2" limited="true"/>
          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
          <position ctrllimited="true" ctrlrange="0 1.57"/>
          <default class="lever_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="lever_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="lever_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/lever/lever_axis.stl" name="lever_axis"/>
        <mesh file="../objects/meshes/lever/lever_base.stl" name="lever_base"/>
        <mesh file="../objects/meshes/lever/lever_handle.stl" name="lever_handle"/>
        <mesh file="../objects/meshes/lever/lever_rod.stl" name="lever_rod"/>
        <mesh file="../objects/meshes/lever/lever_rodbase.stl" name="lever_rodbase"/>
    </asset>

</mujocoinclude>
