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

      <material name="dial_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="dial_metal" texture="T_dial" rgba=".35 .35 .35 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="dial_red" rgba=".6 0 0 1" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>
      <default class="dial_base">
          <joint armature="0.001" damping="1" limited="true"/>
          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
          <position ctrllimited="true" ctrlrange="0 1.57"/>
          <default class="dial_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="dial_col">
              <geom conaffinity="1" condim="3" contype="0" group="4" material="dial_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>

      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/dial/dial.stl" name="dial"/>
        <mesh file="../objects/meshes/dial/dialhead.stl" name="dialhead"/>

    </asset>

</mujocoinclude>
