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<mujoco>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
<texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
<material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"></material>
<material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
<material name="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
<material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>
<material name="robot0:gripper_finger_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<material name="robot0:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<material name="robot0:arm_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<material name="robot0:head_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<material name="robot0:torso_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<material name="robot0:base_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
<mesh file="base_link_collision.stl" name="robot0:base_link"></mesh>
<mesh file="bellows_link_collision.stl" name="robot0:bellows_link"></mesh>
<mesh file="elbow_flex_link_collision.stl" name="robot0:elbow_flex_link"></mesh>
<mesh file="estop_link.stl" name="robot0:estop_link"></mesh>
<mesh file="forearm_roll_link_collision.stl" name="robot0:forearm_roll_link"></mesh>
<mesh file="gripper_link.stl" name="robot0:gripper_link"></mesh>
<mesh file="head_pan_link_collision.stl" name="robot0:head_pan_link"></mesh>
<mesh file="head_tilt_link_collision.stl" name="robot0:head_tilt_link"></mesh>
<mesh file="l_wheel_link_collision.stl" name="robot0:l_wheel_link"></mesh>
<mesh file="laser_link.stl" name="robot0:laser_link"></mesh>
<mesh file="r_wheel_link_collision.stl" name="robot0:r_wheel_link"></mesh>
<mesh file="torso_lift_link_collision.stl" name="robot0:torso_lift_link"></mesh>
<mesh file="shoulder_pan_link_collision.stl" name="robot0:shoulder_pan_link"></mesh>
<mesh file="shoulder_lift_link_collision.stl" name="robot0:shoulder_lift_link"></mesh>
<mesh file="upperarm_roll_link_collision.stl" name="robot0:upperarm_roll_link"></mesh>
<mesh file="wrist_flex_link_collision.stl" name="robot0:wrist_flex_link"></mesh>
<mesh file="wrist_roll_link_collision.stl" name="robot0:wrist_roll_link"></mesh>
<mesh file="torso_fixed_link.stl" name="robot0:torso_fixed_link"></mesh>
</asset>
<equality>
<weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
</equality>
<contact>
<exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>
<exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude>
<exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
</contact>
<default>
<default class="robot0:fetch">
<geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
<joint armature="1" damping="50" frictionloss="0" stiffness="0"></joint>
<default class="robot0:fetchGripper">
<geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom>
<joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"></joint>
</default>
<default class="robot0:grey">
<geom rgba="0.356 0.361 0.376 1.0"></geom>
</default>
<default class="robot0:blue">
<geom rgba="0.086 0.506 0.767 1.0"></geom>
</default>
</default>
</default>
</mujoco>
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