mujoco

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<mujoco model="Full-flex sphere">
  <include file="scene.xml"/>

  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>

  <size memory="10M"/>

  <visual>
    <map stiffness="500"/>
  </visual>

  <worldbody>
    <geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
    <geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
    <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
              radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
      <edge equality="true"/>
      <contact selfcollide="none" internal="false" passive="true"/>
    </flexcomp>
  </worldbody>
</mujoco>