mujoco

<mujoco>
  <asset>
    <texture name="tex1" type="2d" file="noise.png"/>
    <texture name="tex2" type="2d" file="noise.png"/>
    <texture name="tex3" type="2d" file="noise.png"/>
    <texture name="tex4" type="2d" file="noise.png"/>
    <texture name="tex5" type="2d" file="noise.png"/>
    <texture name="tex6" type="2d" hflip="true" vflip="true" file="noise.png"/>
    <texture name="tex7" type="2d" hflip="true" vflip="true" file="noise.png"/>
    <texture name="tex8" type="2d" hflip="true" vflip="true" file="noise.png"/>
    <texture name="tex9" type="2d" hflip="true" vflip="true" file="noise.png"/>
    <texture name="tex10" type="2d" hflip="true" vflip="true" file="noise.png"/>
    <material name="mat1" texture="tex1"/>
    <material name="mat2" texture="tex2"/>
    <material name="mat3" texture="tex3"/>
    <material name="mat4" texture="tex4"/>
    <material name="mat5" texture="tex5"/>
    <material name="mat6" texture="tex6"/>
    <material name="mat7" texture="tex7"/>
    <material name="mat8" texture="tex8"/>
    <material name="mat9" texture="tex9"/>
    <material name="mat10" texture="tex10"/>
    <mesh name="mesh1" file="highres_sphere.obj"/>
    <mesh name="mesh2" file="highres_sphere.obj"/>
    <mesh name="mesh3" file="highres_sphere.obj"/>
    <mesh name="mesh4" file="highres_sphere.obj"/>
    <mesh name="mesh5" file="highres_sphere.obj"/>
    <mesh name="mesh6" file="highres_sphere.obj"/>
    <mesh name="mesh7" file="highres_sphere.obj"/>
    <mesh name="mesh8" file="highres_sphere.obj"/>
    <mesh name="mesh9" file="highres_sphere.obj"/>
    <mesh name="mesh10" file="highres_sphere.obj"/>
    <hfield name="hfield1" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield2" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield3" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield4" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield5" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield6" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield7" size="10 10 10 0.1" file="noise.png"/>
    <hfield name="hfield8" size="10 10 10 0.1" file="noise.png"/>
  </asset>
  <worldbody>
    <geom type="mesh" mesh="mesh1" material="mat1" pos="0 0 0"/>
    <geom type="mesh" mesh="mesh2" material="mat2" pos="0.3 0 0"/>
    <geom type="mesh" mesh="mesh3" material="mat3" pos="0.6 0 0"/>
    <geom type="mesh" mesh="mesh4" material="mat4" pos="0.9 0 0"/>
    <geom type="mesh" mesh="mesh5" material="mat5" pos="1.2 0 0"/>
    <geom type="mesh" mesh="mesh6" material="mat6" pos="0 0.3 0"/>
    <geom type="mesh" mesh="mesh7" material="mat7" pos="0.3 0.3 0"/>
    <geom type="mesh" mesh="mesh8" material="mat8" pos="0.6 0.3 0"/>
    <geom type="mesh" mesh="mesh9" material="mat9" pos="0.9 0.3 0"/>
    <geom type="mesh" mesh="mesh10" material="mat10" pos="1.2 0.3 0"/>
    <geom type="hfield" hfield="hfield1" pos="0 0 0"/>
    <geom type="hfield" hfield="hfield2" pos="0 0 10"/>
    <geom type="hfield" hfield="hfield3" pos="0 0 20"/>
    <geom type="hfield" hfield="hfield4" pos="0 0 30"/>
    <geom type="hfield" hfield="hfield5" pos="0 0 40"/>
    <geom type="hfield" hfield="hfield6" pos="0 0 50"/>
    <geom type="hfield" hfield="hfield7" pos="0 0 60"/>
    <geom type="hfield" hfield="hfield8" pos="0 0 70"/>
  </worldbody>
</mujoco>