<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
      <texture name="T_hdlprsmetal0" type="cube" file="../textures/metal1.png"/>
        <texture name="T_hdlprsmetal1" type="cube" file="../textures/metal2.png"/>

      <material name="hdlprs_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="hdlprs_red" rgba=".5 0 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="hdlprs_black" rgba=".15 .15 .15 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="hdlprs_metal0" rgba=".55 .55 .55 1" texture="T_hdlprsmetal0" shininess="1" reflectance=".7" specular=".5"/>
      <material name="hdlprs_metal1" rgba=".65 .65 .65 1" texture="T_hdlprsmetal1" shininess="1" reflectance=".7" specular=".5"/>
    </asset>
    <default>
      <default class="hdlprs_base">
          <joint armature="0.001" damping="2" limited="true"/>
          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
          <default class="hdlprs_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="hdlprs_col">
              <geom conaffinity="1" condim="3" contype="0" group="4" material="hdlprs_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>

      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/handle_press/handle_press_base.stl" name="handle_press_base"/>
        <mesh file="../objects/meshes/handle_press/handle_press_col1.stl" name="handle_press_col1"/>
        <mesh file="../objects/meshes/handle_press/handle_press_col2.stl" name="handle_press_col2"/>
        <mesh file="../objects/meshes/handle_press/handle_press_col3.stl" name="handle_press_col3"/>
        <mesh file="../objects/meshes/handle_press/handle_press_grip.stl" name="handle_press_grip"/>
        <mesh file="../objects/meshes/handle_press/handle_press_lever.stl" name="handle_press_lever"/>
        <mesh file="../objects/meshes/handle_press/handle_press_trim.stl" name="handle_press_trim"/>
    </asset>

</mujocoinclude>
