<mujoco model="button_outer">
    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="1 5"/>

    <asset>
        <texture name="T_btn" type="cube" file="metaworld/button/metal1.png"/>

        <material name="btn_col" rgba="0.96 0.26 0.33 0.5" shininess="0" specular="0"/>
        <material name="btn_red" rgba="0.96 0.26 0.33 1" shininess="1" reflectance=".7" specular=".5"/>
        <material name="btn_top" rgba="1 1 1 1" shininess="1" reflectance=".7" specular=".5"/>
        <material name="btn_black" rgba=".15 .15 .15 1" shininess="1" reflectance=".7" specular=".5"/>
        <material name="btn_metal" rgba=".8 .8 .8 1" texture="T_btn" shininess="1" reflectance="1" specular="1"/>
    </asset>

    <default>
        <default class="buttonbox_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="buttonbox_viz">
                <geom condim="4" type="mesh"/>
            </default>
            <default class="buttonbox_col">
                <geom conaffinity="1" condim="3" contype="1" group="4" material="btn_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
            </default>
            <site type="sphere" size=".01" rgba="0 1 0 1" group="5"/>
        </default>
    </default>

    <asset>
        <mesh file="metaworld/button/stopbot.stl" name="stopbot" scale="0.4 0.4 0.4"/>
        <mesh file="metaworld/button/stopbutton.stl" name="stopbutton" scale="0.4 0.4 0.4"/>
        <mesh file="metaworld/button/stopbuttonrim.stl" name="stopbuttonrim" scale="0.4 0.4 0.4"/>
        <mesh file="metaworld/button/stopbuttonrod.stl" name="stopbuttonrod" scale="0.4 0.4 0.4"/>
        <mesh file="metaworld/button/stoptop.stl" name="stoptop" scale="0.4 0.4 0.4"/>
    </asset>

    <worldbody>
    </worldbody>
</mujoco>