<mujoco>
    <!--  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
    -->
    <compiler meshdir="mesh/" texturedir="texture/"/>

    <statistic extent="2" meansize=".05"/>

    <option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>

    <visual>
        <rgba haze="0.15 0.25 0.35 1"/>
        <quality shadowsize="2048"/>
        <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
    </visual>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texobj" type="cube" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <!-- <texture name="texcarpet" type="2d" file="carpet.png"/> -->
        <texture name="texplane" type="2d" file="Oak.png"/>
        <!-- <texture name="texsponge" type="2d" file="sponge.png"/> -->
        <texture name="texmarble" type="cube" file="Marble.png"/>

        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name="matobj" reflectance="0.3" texture="texobj" texrepeat="1 1" texuniform="true"/>
        <!-- <material name="matcarpet" texture="texcarpet"/> -->
        <!-- <material name="matsponge" texture="texsponge" specular="0.3"/> -->
        <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
    </asset>

    <worldbody>
        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" material="matplane" condim="3"/>
        <!-- <geom type="box" size=".2 .2 .2" material="matmarble" pos="0 0 -0.09142135623730951" quat="0.9238795325112867 0.5 0 0" group="1" condim="3" name="ramp30"/> -->
        <!-- quat = "cos(π/8) sin(π/8) 0 0". This corresponds to a 45 degree
            rotation about vecotor [1, 0, 0] (i.e. x-axis) to create a 45 degree ramp-->
        <geom type="box" size=".2 .2 .2" material="matmarble" quat="0.9238795325112867 0 0.3826834323650898 0" group="1" condim="3" name="ramp45"/>
    </worldbody>

    <!-- <sensor>
        <velocimeter name="final velocity" site="bottom"/>
    </sensor> -->
</mujoco>
