Total coefficient of restitution CoR as a function of the impact angle (“0 deg” means a pure vertical trajectory with no lateral motion; larger angles represent more grazing impacts), the bed depth, and the orientation of MASCOT at impact, for a gravel-like friction (left) and a moderate friction (right). The shapes of the markers represent the five considered angles, while the three columns show the three bed depths. The color refers to the orientation of MASCOT.