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

      <material name="bskt_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
      <material name="bskt_red" rgba=".6 0 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="bskt_orange" rgba=".7 .35 0 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="bskt_black" rgba=".15 .15 .15 1" shininess="1" reflectance=".7" specular=".5"/>

      <material name="bskt_white" rgba=".85 .85 .85 1" shininess="1" reflectance=".7" specular=".5"/>
      <material name="bskt_metal" texture="T_bskt" shininess="1" reflectance=".7" specular=".5"/>

    </asset>
    <default>

      <default class="basketball_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="basketball_viz">
              <geom condim="4" type="mesh"/>
          </default>
          <default class="basketball_col">
              <geom conaffinity="1" condim="3" contype="1" group="4" material="bskt_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          </default>
      </default>
    </default>

    <asset>
        <mesh file="../objects/meshes/basketball/backboard.stl" name="backboard" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/backboardsquareinner.stl" name="backboardsquareinner" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/backboardsquareouter.stl" name="backboardsquareouter" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/basketballinner.stl" name="basketballinner" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/basketballouter.stl" name="basketballouter" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/hoop.stl" name="hoop" scale="1 1 1" />
        <mesh file="../objects/meshes/basketball/pole.stl" name="pole" scale="1 1 1" />
    </asset>

</mujocoinclude>
