| <mujoco> | |
| <option> | |
| <flag multiccd="enable"/> | |
| </option> | |
| <visual> | |
| <quality shadowsize="8192"/> | |
| <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/> | |
| <map force="0.1"/> | |
| </visual> | |
| <asset> | |
| <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" | |
| scale="1 1 .3"/> | |
| </asset> | |
| <worldbody> | |
| <light pos="0 0 1"/> | |
| <geom type="mesh" mesh="box" pos="0 0 -.3"/> | |
| <body pos="0 0 .02" euler="90 40 0"> | |
| <freejoint/> | |
| <geom type="capsule" size=".03 .1"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |