<?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>
        <mesh name="pedestal" file="sawyer/pedestal.stl" />
        <mesh name="base" file="sawyer/base.stl" />
        <mesh name="l0" file="sawyer/l0.stl" />
        <mesh name="head" file="sawyer/head.stl" />
        <mesh name="l1" file="sawyer/l1.stl" />
        <mesh name="l2" file="sawyer/l2.stl" />
        <mesh name="l3" file="sawyer/l3.stl" />
        <mesh name="l4" file="sawyer/l4.stl" />
        <mesh name="l5" file="sawyer/l5.stl" />
        <mesh name="l6" file="sawyer/l6.stl" />

        <texture file="marble.png" name="marble" />
        <texture file="navy_blue.png" name="navy_blue" />
        <texture file="wood_light.png" name="table_texture" type="2d"/>
        <texture file="wood_light.png" name="wood_texture"/>


        <material name="marble" shininess="0.3" rgba="0.9 0.9 0.9 1" specular="1" texture="marble"/>
        <material name="navy_blue" shininess="0.3" rgba="0.9 0.9 0.9 1" specular="1" texture="navy_blue"/>
        <material name="wood_material" rgba="1 1 1 1" shininess="0.1" specular="0.4" texture="wood_texture" />
        <material name="table_material" rgba="1 1 1 1" shininess="0.1" specular="0.4" texture="table_texture" />

    </asset>

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

    <compiler inertiafromgeom="auto" angle="radian" coordinate="local" eulerseq="XYZ" meshdir="../meshes" texturedir="../textures"/>
    <size njmax="6000" nconmax="6000"/>
    <option
            gravity="0 0 -9.81"
            iterations="50"
            integrator="Euler"
            timestep="0.003"
            cone="pyramidal"
            impratio="1"
            tolerance="1e-10"
    />

    <default>
        <joint limited="true"
               damping="1"
               stiffness="0"
               armature=".1"
               user="0"/>
        <geom solref="0.008 1"
              solimp="0.95 0.95 0.01"
              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="4" conaffinity="2"/>
        </default>

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

    <equality>
        <weld body1="mocap" body2="leftclaw" solref="0.005 1"></weld>
    </equality>
</mujoco>
