<mujoco>
    <include file="./common/materials.xml"/>
    <option timestep="0.02" iterations="4" solver="PGS"/>
    <asset>
        <texture name="plane" type="2d" builtin="checker" width="128" height="128" rgb1="0.3 0.4 0.5" rgb2="0.6 0.5 0.4"/>
        <material name="plane" texture="plane" texrepeat="4 4" texuniform="true"/>
        <texture name="file_plane" type="2d" builtin="checker" width="128" height="128" rgb1="0.5 0.4 0.3" rgb2="0.6 0.5 0.4"/>
        <material name="file_plane" texture="file_plane" texrepeat="4 4" texuniform="true"/>

        <hfield name="terrain1"  nrow="15" ncol="15" elevation="0.0000000e+00  4.3388376e-01  7.8183150e-01  9.7492790e-01 9.7492790e-01  7.8183138e-01  4.3388361e-01 -3.2584137e-07 -4.3388399e-01 -7.8183162e-01 -9.7492802e-01 -9.7492778e-01 -7.8183132e-01 -4.3388331e-01  1.7484555e-07  0.0000000e+00 3.9091575e-01 7.0440584e-01 8.7837964e-01 8.7837964e-01 7.0440573e-01 3.9091560e-01 -2.9357292e-07 -3.9091596e-01 -7.0440596e-01 -8.7837976e-01 -8.7837958e-01 -7.0440567e-01 -3.9091533e-01 1.5753039e-07 0.0000000e+00 2.7052206e-01 4.8746392e-01 6.0785753e-01 6.0785753e-01 4.8746383e-01 2.7052197e-01 -2.0315875e-07 -2.7052221e-01 -4.8746398e-01 -6.0785764e-01 -6.0785747e-01 -4.8746380e-01 -2.7052179e-01 1.0901441e-07 0.0000000e+00 9.6548185e-02 1.7397381e-01 2.1694179e-01 2.1694179e-01 1.7397378e-01 9.6548155e-02 -7.2506502e-08 -9.6548237e-02 -1.7397384e-01 -2.1694182e-01 -2.1694177e-01 -1.7397378e-01 -9.6548088e-02 3.8906784e-08 -0.0000000e+00 -9.6548274e-02 -1.7397398e-01 -2.1694200e-01 -2.1694200e-01 -1.7397395e-01 -9.6548244e-02 7.2506566e-08 9.6548326e-02 1.7397401e-01 2.1694203e-01 2.1694197e-01 1.7397393e-01 9.6548177e-02 -3.8906819e-08 -0.0000000e+00 -2.7052218e-01 -4.8746410e-01 -6.0785776e-01 -6.0785776e-01 -4.8746404e-01 -2.7052209e-01 2.0315883e-07 2.7052233e-01 4.8746419e-01 6.0785782e-01 6.0785770e-01 4.8746398e-01 2.7052191e-01 -1.0901445e-07 -0.0000000e+00 -3.9091578e-01 -7.0440590e-01 -8.7837970e-01 -8.7837970e-01 -7.0440578e-01 -3.9091563e-01 2.9357295e-07 3.9091599e-01 7.0440596e-01 8.7837982e-01 8.7837964e-01 7.0440573e-01 3.9091536e-01 -1.5753041e-07 -0.0000000e+00 -4.3388376e-01 -7.8183150e-01 -9.7492790e-01 -9.7492790e-01 -7.8183138e-01 -4.3388361e-01 3.2584137e-07 4.3388399e-01 7.8183162e-01 9.7492802e-01 9.7492778e-01 7.8183132e-01 4.3388331e-01 -1.7484555e-07 -0.0000000e+00 -3.9091569e-01 -7.0440573e-01 -8.7837958e-01 -8.7837958e-01 -7.0440561e-01 -3.9091557e-01 2.9357290e-07 3.9091590e-01 7.0440584e-01 8.7837964e-01 8.7837946e-01 7.0440555e-01 3.9091530e-01 -1.5753038e-07 -0.0000000e+00 -2.7052203e-01 -4.8746383e-01 -6.0785741e-01 -6.0785741e-01 -4.8746374e-01 -2.7052194e-01 2.0315871e-07 2.7052218e-01 4.8746389e-01 6.0785753e-01 6.0785735e-01 4.8746371e-01 2.7052173e-01 -1.0901439e-07 -0.0000000e+00 -9.6548051e-02 -1.7397358e-01 -2.1694149e-01 -2.1694149e-01 -1.7397355e-01 -9.6548013e-02 7.2506403e-08 9.6548103e-02 1.7397361e-01 2.1694152e-01 2.1694146e-01 1.7397353e-01 9.6547954e-02 -3.8906727e-08 0.0000000e+00 9.6548460e-02 1.7397432e-01 2.1694241e-01 2.1694241e-01 1.7397429e-01 9.6548431e-02 -7.2506708e-08 -9.6548520e-02 -1.7397435e-01 -2.1694244e-01 -2.1694238e-01 -1.7397428e-01 -9.6548364e-02 3.8906894e-08 0.0000000e+00 2.7052221e-01 4.8746416e-01 6.0785782e-01 6.0785782e-01 4.8746407e-01 2.7052212e-01 -2.0315885e-07 -2.7052236e-01 -4.8746422e-01 -6.0785788e-01 -6.0785776e-01 -4.8746404e-01 -2.7052191e-01 1.0901446e-07 0.0000000e+00 3.9091584e-01 7.0440602e-01 8.7837988e-01 8.7837988e-01 7.0440590e-01 3.9091572e-01 -2.9357301e-07 -3.9091608e-01 -7.0440614e-01 -8.7838000e-01 -8.7837982e-01 -7.0440584e-01 -3.9091545e-01 1.5753044e-07 0.0000000e+00 4.3388376e-01 7.8183150e-01 9.7492790e-01 9.7492790e-01 7.8183138e-01 4.3388361e-01 -3.2584137e-07 -4.3388399e-01 -7.8183162e-01 -9.7492802e-01 -9.7492778e-01 -7.8183132e-01 -4.3388331e-01 1.7484555e-07" size="5 5 2 1"/>
        <hfield name="file_terrain" file = "common/terrain.hfield" content_type ="hfield" size="5 5 2 1"/>
    </asset>
  <worldbody>
    <light name="top" pos="0 0 4" directional="true"/>
    <body  pos="0.0 2.0 4">
        <joint type="free"/>
        <geom name="red_sphere"  size="0.6 .2 .2" rgba="1 0 0 1" />
    </body>
    <body pos="0.0 0.0 3">
        <joint type="free"/>
        <geom name="red_sphere2"  size="0.6 .2 .2" rgba="0 1 0 1" />
    </body>

    <body pos="15.0 0.0 3">
        <joint type="free"/>
        <geom name="blue_sphere3"  size="0.6 .2 .2" rgba="0.1 0.1 1 1" />
    </body>
    <geom name="heightfield2" type="hfield" hfield="terrain1" material = "plane"/>
    <geom pos = "15 0 0" name="heightfield_test" type="hfield" hfield="file_terrain" material = "file_plane"/>
    <geom name="floor" size="0 0 0.01" type="plane" material="motphys-ground"/>
  </worldbody>
</mujoco>
