<?xml version="1.0" encoding="utf-8"?>
<mujoco>
  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.9 0.7 0.9" rgb2="0.94 0.97 0.97" width="2" height="2"/>
    <material name="arm_mat" shininess="0.1" specular="0." reflectance="0" rgba="0.65 0.28 0.28 0.8"/>
    <material name="non-reflective" shininess="0" specular="0." reflectance="0" rgba="0.65 0.28 0.28 0.8"/>
    <mesh name="pedestal" file="pedestal.stl"/>
    <mesh name="base" file="base.stl"/>
    <mesh name="l0" file="l0.stl"/>
    <mesh name="head" file="head.stl"/>
    <mesh name="l1" file="l1.stl"/>
    <mesh name="l2" file="l2.stl"/>
    <mesh name="l3" file="l3.stl"/>
    <mesh name="l4" file="l4.stl"/>
    <mesh name="l5" file="l5.stl"/>
    <mesh name="l6" file="l6.stl"/>
    <mesh name="eGripperBase" file="eGripperBase.stl"/>
  </asset>

  <visual>
    <headlight ambient="0.05 0.05 0.05"/>
  </visual>

  <compiler inertiafromgeom="auto" angle="radian" coordinate="local" eulerseq="XYZ" meshdir="meshes"/>
  <size njmax="6000" nconmax="6000"/>
  <option gravity="0 0 -9.81" iterations="50" integrator="Euler" timestep="0.01" cone="elliptic" impratio="3"
          tolerance="1e-10"/>
  <custom>
    <numeric data="0.058578 -0.523882118 -0.720207486  1.38129910 -2.39196131 -0.990936965 -0.123400890  0.0314192366 -0.0309941931  0.0  0.5  0.0299999993 1.0  0.00000945398917 -0.00000613204155  0.00000742536948" name="init_qpos"/>
  </custom>
  <default>
    <joint limited="true" damping="1" stiffness="0" armature=".1" user="0"/>
    <geom solref="0.02 1" solimp="0.9995 0.9995 0.01" condim="4"/>
    <motor ctrllimited="true" ctrlrange="-1 1"/>
    <position ctrllimited="true"/>
  </default>

  <equality>
    <weld body1="mocap" body2="hand" solref="0.02 1"></weld>
  </equality>
</mujoco>
