<mujoco model="Ramp">
    <!--  Copyright © 2018, Roboti LLC

          This file is licensed under the MuJoCo Resource License (the "License").
          You may not use this file except in compliance with the License.
          You may obtain a copy of the License at

            https://www.roboti.us/resourcelicense.txt
    -->

    <include file="rampscene.xml"/>

    <default>
        <geom friction="0.5 0.005 0.0001"/>
    </default>

    <option solver="CG" tolerance="1e-6"/>

    <size nconmax="500" njmax="5000" nstack="5000000"/>

    <worldbody>
        <body pos="0 0.06464728749274644 0.25858914997098575" quat="0.9238795325112867 0.3826834323650898 0 0">
            <freejoint/>
            <geom name="blockg" type="box" size=".05 .01 .05" material="matobj"/>
            <site name="blocks" type="box" size=".05 .01 .05" rgba="0 255 0 .4"/>
        </body>
    </worldbody>

    <sensor>
        <framelinvel name="gvel" objtype="geom" objname="blockg"/>
        <velocimeter name="lvel" site="blocks"/>
    </sensor>
</mujoco>
