mujoco

<!-- Copyright 2021 DeepMind Technologies Limited

     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
     You may obtain a copy of the License at

         http://www.apache.org/licenses/LICENSE-2.0

     Unless required by applicable law or agreed to in writing, software
     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     See the License for the specific language governing permissions and
     limitations under the License.
-->

<mujoco>
  <compiler meshdir="asset" texturedir="asset"/>
  <statistic extent="1.5" meansize=".05"/>

  <option timestep="0.005" jacobian="sparse"/>

  <visual>
    <rgba haze="0.15 0.25 0.35 1"/>
    <quality shadowsize="4096"/>
    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
  </visual>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
    <texture name="texcarpet" type="2d" file="carpet.png"/>
    <texture name="texsponge" type="2d" file="sponge.png"/>
    <texture name="texmarble" type="cube" file="marble.png"/>

    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    <material name="matcarpet" texture="texcarpet"/>
    <material name="matsponge" texture="texsponge" specular="0.3"/>
    <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
  </asset>

  <worldbody>
    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>

    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>

    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
      <geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
    </body>
  </worldbody>
</mujoco>