<mujocoinclude>
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
    <asset>
      <texture name="T_dl_met" type="cube" file="../textures/metal1.png"/>
      <texture name="T_dl_met2" type="cube" file="../textures/metal2.png"/>

      <material name="dl_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="dl_metal" rgba=".75 .75 .75 1" texture="T_dl_met" texuniform="true" shininess="1" reflectance="1" specular="1"/>
      <material name="dl_metal2" rgba=".3 .32 .35 1" texture="T_dl_met2" texuniform="true" shininess="1" reflectance="1" specular="1"/>

    </asset>
    <default>

      <default class="dl_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="dl_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="dl_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="dl_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/doorlock/safe.stl" name="safe"/>
        <mesh file="../objects/meshes/doorlock/door.stl" name="door"/>
        <mesh file="../objects/meshes/doorlock/door_handle.stl" name="door_handle"/>
        <mesh file="../objects/meshes/doorlock/handle_base.stl" name="handle_base"/>
        <mesh file="../objects/meshes/doorlock/lock.stl" name="lock"/>
        <mesh file="../objects/meshes/doorlock/lock_base.stl" name="lock_base"/>
    </asset>

</mujocoinclude>
