<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
      <material name="bin_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="bin_red" rgba=".8 0 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="bin_blue" rgba="0 0 .8 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="obj_green" rgba="0 1 0 1" shininess=".2" reflectance="0" specular=".5"/>
    </asset>
    <default>
      <default class="bin_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="bin_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="bin_col">
              <geom conaffinity="1" condim="3" contype="0" group="4" material="bin_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
          <default class="obj_col">
              <geom conaffinity="1" condim="4" contype="1" group="4" material="bin_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/bin/bin.stl" name="bin"/>
    </asset>

</mujocoinclude>
