<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the Apache License, Version 2.0 (the "License");
 ~ you may not use this file except in compliance with the License.
 ~ You may obtain a copy of the License at
 ~
 ~     http://www.apache.org/licenses/LICENSE-2.0
 ~
 ~ Unless required by applicable law or agreed to in writing, software
 ~ distributed under the License is distributed on an "AS IS" BASIS,
 ~ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 ~ See the License for the specific language governing permissions and
 ~ limitations under the License.
 -->

<?xml version="1.0"?>
<mujocoinclude>
  <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="3 5"/>
  <option timestep="0.0025"/>
  <asset>
    <mesh name="motor" file="../dclaw/meshes/xh_base_high_poly.stl" scale=".001 .001 .001"/>
    <mesh name="motor_hull" file="../dclaw/meshes/xh_base_hull.stl" scale=".001 .001 .001"/>
    <mesh name="valve_4" file="../dclaw_stations/meshes/valve_4_high_poly.stl" scale=".001 .001 .001"/>
    <mesh name="valve_3" file="../dclaw_stations/meshes/valve_3_high_poly.stl" scale=".001 .001 .001"/>
    <mesh name="station_base" file="../dclaw_stations/meshes/station_plastic_base.stl" scale=".001 .001 .001"/>
    <mesh name="station_metal_base" file="../dclaw_stations/meshes/station_metal_base.stl" scale=".001 .001 .001"/>
    <mesh name="station_surface" file="../dclaw_stations/meshes/station_surface.stl" scale=".001 .001 .001"/>
    <mesh name="station_plastic_walls" file="../dclaw_stations/meshes/station_plastic_walls.stl" scale=".001 .001 .001"/>
    <material name="station_metal_grey" specular="1" shininess="1" rgba="0.5 0.5 0.5 1.0"/>
    <material name="plastic_white" specular="0.3" shininess="0" rgba="1 1 1 1"/>
    <material name="plastic_blue" specular="0.3" shininess="0" rgba="0.0 0.0 0.25 1"/>
    <material name="plastic_red" specular="0.3" shininess="0" rgba="0.5 0.0 0.0 1"/>
    <material name="plastic_grey" specular="0.3" shininess="0" rgba="0.5 0.5 0.5 1.0"/>
    <material name="plastic_black" specular="0.3" shininess="0" rgba="0.02 0.02 0.02 1.0"/>
    <material name="plastic_transparent" specular="0.3" shininess="0" rgba="1 1 1 0.4"/>
  </asset>
  <default>
    <default class="station">
      <joint limited="true" damping=".1" armature="0.001"/>
      <geom contype="1" conaffinity="1" condim="4" group="2" margin="0.0005"/>
      <site group="2"/>
      <default class="station_viz">
        <geom contype="0" conaffinity="0" type="mesh"/>
        <default class="station_viz_metal_grey">
          <geom material="station_metal_grey"/>
        </default>
        <default class="station_viz_plastic_black">
          <geom material="plastic_black"/>
        </default>
        <default class="station_viz_plastic_grey">
          <geom material="plastic_grey"/>
        </default>
        <default class="station_viz_plastic_white">
          <geom material="plastic_white"/>
        </default>
        <default class="station_viz_plastic_blue">
          <geom material="plastic_blue"/>
        </default>
        <default class="station_viz_plastic_red">
          <geom material="plastic_red"/>
        </default>
        <default class="station_viz_plastic_transparent">
          <geom material="plastic_transparent"/>
        </default>
      </default>
      <default class="station_phy">
        <geom contype="1" conaffinity="1" group="4" type="mesh" rgba="0.0 0.0 1.0 .3"/>
        <site group="4"/>
        <default class="station_phy_metal">
          <geom material="station_metal_grey"/>
        </default>
        <default class="station_phy_plastic">
          <geom material="station_metal_grey" friction=".2 0.005 0.0001"/>
        </default>
      </default>
    </default>
  </default>
</mujocoinclude>
