<mujoco>
    <option  gravity="0 0 -9.8" />
    <compiler autolimits="true"/>
    <statistic center="0 0 -0.6" extent="0.8"/>

    <asset>
        <texture type="2d" name="checker" builtin="checker" mark="edge" rgb1="0.050 0.247 0.403" rgb2="0.117 0.890 0.811"
        markrgb="0.8 0.8 0.8" width="64" height="64"/>
       
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.4 0.5" rgb2="0.027 0.023 0.049"
        width="100" height="100"/>

        <material name="checker_mat" texture="checker" texuniform="true" texrepeat="5 5" reflectance="0.2"/>

        <!-- mujoco can not resolve asset path when include common/materials.xml, so we add material directly for this case-->
        <texture name="motphys-ground" type="2d" file="common/motphys-ground.png" />
        <material name="motphys-ground" texture="motphys-ground" texuniform="true"
        texrepeat="0.4 0.4" />
    </asset>

    <default>
        <geom friction="0.25 0.01" condim="4"/>
    </default>

    <worldbody>
        <light pos="0 0 3" directional="true"/>
        <!-- ground plane -->
        <geom type="plane" size="10 10 0.01" pos="0 0 0" material="motphys-ground"/> 
        <!-- gyroscopic -->
        <body name = "gyro" pos="0 0 0.01" euler="0 18 0">
            <freejoint  name="ball_1"/>
            <geom type="sphere" size="0.01" rgba = "0.117 0.890 0.811 1"/>
            <body pos="0 0 0.51">
                <geom type="cylinder" size="0.01 0.5" rgba = "0.7 0.8 0.9 1"/>
                <body pos="0 0 0">
                    <geom type="cylinder" pos="0 0 -0.2" size="0.4 0.05"  material="checker_mat"/>
                </body>
            </body>
        </body>
    </worldbody>

  </mujoco>