mujoco

<mujoco>
  <option gravity="-4 4 -10">
    <flag multiccd="enable"/>
  </option>

  <visual>
    <quality shadowsize="8192"/>
    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
    <map force="0.1"/>
  </visual>

  <size memory="100M"/>

  <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=".05 .05 .05"/>
  </asset>

  <default>
    <geom friction="0.4"/>
    <default class="mesh_box">
      <geom type="mesh" mesh="box"/>
    </default>
    <default class="primitive_box">
      <geom type="box" size=".05 .05 .05" friction=".1"/>
    </default>
  </default>

  <worldbody>
    <light pos="1 -1 1" dir="-1 1 -1"/>
    <geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/>
    <geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/>
    <geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/>
    <body pos="-.4 .4 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .4 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .4 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.4 .5 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .5 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .5 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.4 .6 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .6 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .6 .1">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>

    <body pos="-.4 .4 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .4 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .4 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.4 .5 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .5 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .5 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.4 .6 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.5 .6 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
    <body pos="-.6 .6 .2">
      <freejoint/>
      <geom class="mesh_box"/>
    </body>
  </worldbody>
</mujoco>