| <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> | |
| <worldbody> | |
| <light pos="0 0 1"/> | |
| <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".5 .5 .5 .5"/> | |
| <body pos="0 0 .02"> | |
| <freejoint/> | |
| <geom type="cylinder" size=".4 .03"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |