<?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" />
        <mesh name="eGripperBase" file="sawyer/eGripperBase.stl" />

        <mesh name="WSG50_110" file="sawyer/WSG50_110.stl" />
        <mesh name="GUIDE_WSG50_110" file="sawyer/GUIDE_WSG50_110.stl" scale="0.001 0.001 0.001" />
        <mesh name="WSG-FMF" file="sawyer/WSG-FMF.stl" scale="0.001 0.001 0.001" />

        <texture name='wood_63' file='wood/pic_6_63.png' />
        <material shininess = '.3' specular="1" name="wood_63" texture="wood_63" />

        <texture name='wood_106' file='wood/pic_6_106.png' />
        <material shininess = '.3' specular="1" name="wood_106" texture="wood_106" />

        <texture name="metal_51" file="metal/pic_4_51.png"/>
        <material shininess = '.3' specular="1" name="metal_51" texture="metal_51" />

        <texture name="metal_165" file="metal/pic_4_165.png"/>
        <material shininess = '.3' specular="1" name="metal_165" texture="metal_165" />
    </asset>

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

   
    <compiler inertiafromgeom="auto" angle="radian" coordinate="local"  meshdir="../meshes" texturedir = "../textures"/>
   <!--  <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"
            impedance='constant'
    />

    <default>
        <joint limited="true"
               damping="1"
               stiffness="0"
               armature=".1"
               user="0"/>
        <geom solref="0.02 1"
              solimp="1 1 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="hand" solref="0.02 1"></weld>
    </equality>
</mujoco>
