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<mujoco>
<option noslip_iterations="2">
<flag multiccd="enable"/>
</option>
<visual>
<quality shadowsize="8192"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<default>
<geom solref=".006 1"/>
</default>
<asset>
<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
width="256" height="256" mark="random" markrgb="1 1 1" random="0.003"/>
<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 .1"/>
<mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2"
scale=".3 .2 .1"/>
<mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
scale=".2 .2 .1"/>
</asset>
<worldbody>
<light pos="0 0 3"/>
<light pos="2 2 2" dir="-1 -1 -1"/>
<geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
<geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
<body pos="-.3 -.3 .3">
<freejoint/>
<geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
</body>
<body pos=".3 .3 0.3">
<freejoint/>
<geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
</body>
<body pos=".3 .3 .6">
<freejoint/>
<geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
</body>
<body pos=".6 -.3 .3">
<freejoint/>
<geom type="cylinder" size=".2 .05" rgba=".6 0 .6 1"/>
</body>
</worldbody>
</mujoco>
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