<mujocoinclude>
  <option timestep="0.0025"/>
  <asset>
    <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_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"/>

    <mesh
      name="dodecahedron"
      vertex="1 1 1  -1 1 1  -1 -1 1
             -1 -1 -1  1 -1 1  1 -1 -1
             1 1 -1  -1 1 -1  0 0.618 1.618
             0 -0.618 1.618  0 0.618 -1.618  0 -0.618 -1.618
             1.618 0 0.618  -1.618 0 -0.618  -1.618 0 0.618
             1.618 0 -00.618  0.618 1.618 0  -0.618 1.618 0
             0.618 -1.618 0  -0.618 -1.618 0"
      scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_top_left_face_blue" vertex="0 0.618 1.618  0 -0.618 1.618  -1 1 1  -1 -1 1  -1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_top_right_face_yellow" vertex="0 0.618 1.618  0 -0.618 1.618  1 1 1  1 -1 1  1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_top_front_face_red" vertex="0 -0.618 1.618  1 -1 1  -1 -1 1  0.618 -1.618 0  -0.618 -1.618 0  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_top_back_face_green" vertex="0 0.618 1.618  1 1 1  -1 1 1  0.618 1.618 0  -0.618 1.618 0  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_middle_quad_1_magenta" vertex="1 1 1  0.618 1.618 0  1.618 0 -0.618  1 1 -1  1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_middle_quad_2_orange" vertex="-1 1 1  -0.618 1.618 0  -1.618 0 -0.618  -1 1 -1  -1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_middle_quad_3_purple" vertex="-1 -1 1  -0.618 -1.618 0  -1.618 0 -0.618  -1 -1 -1  -1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_middle_quad_4_white" vertex="1 -1 1  0.618 -1.618 0  1.618 0 -0.618  1 -1 -1  1.618 0 0.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_bottom_front_bgreen" vertex="0.618 -1.618 0  -0.618 -1.618 0  0.618 -1.618 0  1 -1 -1  -1 -1 -1  0 -0.618 -1.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_bottom_back_black" vertex="0.618 1.618 0  -0.618 1.618 0  0.618 1.618 0  1 1 -1  -1 1 -1  0 0.618 -1.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_bottom_right_babyblue" vertex="1.618 0 -0.618  1 1 -1  1 -1 -1  0 -0.618 -1.618  0 0.618 -1.618  0 0 0" scale="0.042 0.042 0.042"/>
    <mesh name="dodecahedron_bottom_left_violet" vertex="-1.618 0 -0.618  -1 1 -1  -1 -1 -1  0 -0.618 -1.618  0 0.618 -1.618  0 0 0" scale="0.042 0.042 0.042"/>
  </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_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>
