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

      <material name="peg_block_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="peg_block_wood" texture="T_peg_block_wood" shininess="1" reflectance=".7" specular=".5"/>
      <material name="peg_block_red" rgba=".55 0 0 1" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>

      <default class="peg_block_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="peg_block_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="peg_block_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="peg_block_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
      <mesh file="../objects/meshes/peg_block/block_inner.stl" name="block_inner" scale="1 1 1"/>
        <mesh file="../objects/meshes/peg_block/block_outer.stl" name="block_outer" scale="1 1 1"/>
    </asset>

</mujocoinclude>
