<!-- =================================================
	Copyright 2016 Vikash Kumar
	Model   :: Fetch (MuJoCoV2.0)
	Author  :: Vikash Kumar (vikashplus@gmail.com)
	Details :: https://github.com/vikashplus/fetch_sim
	License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk© -->

<mujocoinclude>

	<compiler angle="radian"/>

	<asset>
		<mesh name="base_link" file="../fetch_sim/meshes/base_link_collision.stl" />
		<mesh name="r_wheel_link" file="../fetch_sim/meshes/r_wheel_link_collision.stl" />
		<mesh name="l_wheel_link" file="../fetch_sim/meshes/l_wheel_link_collision.stl" />
		<mesh name="torso_lift_link" file="../fetch_sim/meshes/torso_lift_link_collision.stl" />
		<mesh name="head_pan_link" file="../fetch_sim/meshes/head_pan_link_collision.stl" />
		<mesh name="head_tilt_link" file="../fetch_sim/meshes/head_tilt_link_collision.stl" />
		<mesh name="shoulder_pan_link" file="../fetch_sim/meshes/shoulder_pan_link_collision.stl" />
		<mesh name="shoulder_lift_link" file="../fetch_sim/meshes/shoulder_lift_link_collision.stl" />
		<mesh name="upperarm_roll_link" file="../fetch_sim/meshes/upperarm_roll_link_collision.stl" />
		<mesh name="elbow_flex_link" file="../fetch_sim/meshes/elbow_flex_link_collision.stl" />
		<mesh name="forearm_roll_link" file="../fetch_sim/meshes/forearm_roll_link_collision.stl" />
		<mesh name="wrist_flex_link" file="../fetch_sim/meshes/wrist_flex_link_collision.stl" />
		<mesh name="wrist_roll_link" file="../fetch_sim/meshes/wrist_roll_link_collision.stl" />
		<mesh name="gripper_link" file="../fetch_sim/meshes/gripper_link.stl" />
		<mesh name="r_gripper_finger_link" file="../fetch_sim/meshes/r_gripper_finger_link.stl" />
		<mesh name="l_gripper_finger_link" file="../fetch_sim/meshes/l_gripper_finger_link.stl" />
		<mesh name="bellows_link" file="../fetch_sim/meshes/bellows_link_collision.stl" />
		<mesh name="estop_link" file="../fetch_sim/meshes/estop_link.stl" />
		<mesh name="laser_link" file="../fetch_sim/meshes/laser_link.stl" />
		<mesh name="torso_fixed_link" file="../fetch_sim/meshes/torso_fixed_link.stl" />
		<texture name="texgeom" type="cube" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" mark="random" markrgb=".3 .3 .4" random="0.05" width="512" height="512"/>
		<material name="geomMat" texture="texgeom" specular="0.75" shininess=".03"/>
	</asset>

	<!-- <equality>
		<weld body1="mocap" body2="gripper_link" solref="0.01 1" solimp=".02 .1 0.050"/>
	</equality> -©vk©-->

	<contact>
		<exclude body1="r_gripper_finger_link" body2="l_gripper_finger_link"/>
	</contact>

	<default>
		<default class="fetch">
			<geom solref="0.008 1" solimp="0.93 0.97 0.001" margin="0.001" user="0" type="mesh" rgba="1 1 1 1" material="geomMat"/>
			<joint damping="50" stiffness="0" armature="1" limited="true"/>
			<default class="fetchGrey"> <geom rgba="0.356 0.361 0.376 1"/> </default>
			<default class="fetchBlue"> <geom rgba="0.086 0.506 0.767 1"/> </default>
			<default class="fetchGripper">
				<geom solref="0.008 1" solimp="0.93 0.97 0.01" margin="0.001" user="0" rgba="0.356 0.361 0.376 1" condim="4"/>
				<joint solreflimit="0.006 1" solimplimit="0.99 0.999 0.001" damping="50" type="slide" limited="true"/>
			</default>
		</default>
	</default>

	<sensor>
		<jointpos name="shoulder_pan_jp" joint="shoulder_pan_joint" />
		<jointpos name="shoulder_lift_jp" joint="shoulder_lift_joint" />
		<jointpos name="upperarm_roll_jp" joint="upperarm_roll_joint" />
		<jointpos name="elbow_flex_jp" joint="elbow_flex_joint" />
		<jointpos name="forearm_roll_jp" joint="forearm_roll_joint" />
		<jointpos name="wrist_flex_jp" joint="wrist_flex_joint" />
		<jointpos name="wrist_roll_jp" joint="wrist_roll_joint" />
		<jointpos name="r_gripper_finger_jp" joint="r_gripper_finger_joint" />
		<jointpos name="l_gripper_finger_jp" joint="l_gripper_finger_joint" />
	</sensor>
</mujocoinclude>
