<?xml version="1.0" encoding="utf-8"?>
<!--
Usage:

<mujoco>
	<compiler meshdir="../meshes/sawyer" ...></compiler>
	<include file="shared_config.xml"></include>
    (new stuff)
	<worldbody>
		<include file="sawyer_xyz_base.xml"></include>
        (new stuff)
	</worldbody>
</mujoco>
-->

<mujoco>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1=".8 1 1" rgb2=".6 1 1" width="32" height="32"></texture>
        <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" />
    </asset>

    <visual>
        <headlight ambient="0.5 0.5 0.5"  />
    </visual>

    <compiler angle="radian" meshdir="../meshes/sawyer"/>
    <size njmax="500" nconmax="100"/>
    <option
            iterations="50"
            integrator="Euler"
            timestep="0.002"
            cone="elliptic"
    />

    <default>
        <joint limited="true"
               damping="1"
               stiffness="0"
               armature=".1"
               user="0"/>
        <geom solref="0.008 1"
              solimp="0.95 0.95 0.01"
              margin="0.001"
              user="0"
              />
        <motor ctrllimited="true" ctrlrange="-1 1"/>
        <position ctrllimited="true"/>

        <default class='0'>
            <geom friction="1 0.005 0.001" rgba=".75 .6 .5 1"
                  contype="1" conaffinity="0"/>
        </default>

        <default class='1'>
            <geom friction="1 0.005 0.001" rgba=".7 .6 .55 1"
                  contype="2" conaffinity="2"/>
        </default>

        <default class='arm'>
            <joint damping="5"/>
        </default>
    </default>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.01"></weld>
    </equality>
</mujoco>
