<?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_wsg_base.xml"></include>
        (new stuff)
	</worldbody>
</mujoco>
-->

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

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

    <compiler inertiafromgeom="auto" angle="radian" coordinate="local" eulerseq="XYZ" meshdir="../meshes/sawyer"/>
    <option
            gravity="0 0 -9.81"
            iterations="200"
            integrator="Euler"
            timestep="0.0003"
            cone="elliptic"
            impratio="3"
            tolerance="1e-10"
            noslip_iterations = "5"
    />
    <default>
        <joint limited="true"
               damping="1"
               stiffness="0"
               armature=".1"
               user="0"/>
        <geom solref="0.01 1"
              solimp="0.95 0.95 0.01"
              user="0" condim="4"
              />
        <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 class="freejoint">
            <joint limited="false" damping="0.05"/>
        </default>

    </default>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.05 0.95"></weld>
    </equality>
</mujoco>
