<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>

      <material name="cm_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="cmred" rgba="0.38 0.19 0.2 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="cmwhite" rgba=".85 .85 .85 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="cmgrey" rgba=".65 .65 .65 1" shininess="1" reflectance="1" specular=".5"/>

      <material name="cmblack" rgba=".2 .2 .2 1" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>

      <default class="cm_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="cm_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="cm_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="cm_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/coffeemachine/body1.stl" name="body1"/>
        <mesh file="../objects/meshes/coffeemachine/body2.stl" name="body2"/>
        <mesh file="../objects/meshes/coffeemachine/button.stl" name="button"/>
        <mesh file="../objects/meshes/coffeemachine/mug.stl" name="mug"/>
        <mesh file="../objects/meshes/coffeemachine/handle.stl" name="handle"/>
        <mesh file="../objects/meshes/coffeemachine/spout.stl" name="spout"/>
        <mesh file="../objects/meshes/coffeemachine/spoutconnect.stl" name="spoutconnect"/>
        <mesh file="../objects/meshes/coffeemachine/buttonring.stl" name="buttonring"/>
        <mesh file="../objects/meshes/coffeemachine/bodypiece1.stl" name="bodypiece1"/>
    </asset>

</mujocoinclude>
