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

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     distributed under the License is distributed on an "AS IS" BASIS,
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-->

<mujoco model="Soft box">
<!-- Degree of Freedom: 224
     Actuators: 0
     Equality constraints: 651
-->
  <include file="scene.xml"/>

  <option solver="CG" tolerance="1e-6"/>

  <size memory="30M"/>

  <worldbody>
    <body pos="0 0 1">
      <freejoint/>
      <composite type="box" count="7 7 7" spacing="0.04">
        <skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
        <geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
        <joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
      </composite>
    </body>
  </worldbody>
</mujoco>