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<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>
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