mujoco

<mujoco model="2 Humanoids and 100 objects">
<!--
     Model designed for a maximally-elaborate island structure.
     More horizontal gravity leads to larger, fewer islands.
-->
  <option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
    <flag island="enable" sleep="enable"/>
  </option>

  <size memory="100M"/>

  <default>
    <geom condim="6" friction="1 .01 .003"/>
    <default class="capsule">
      <geom type="capsule" material="capsule" size="0.1 0.05"/>
    </default>
    <default class="ellipsoid">
      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
    </default>
    <default class="box">
      <geom type="box" material="box" size="0.15 0.1 0.05"/>
    </default>
    <default class="cylinder">
      <geom type="cylinder" material="cylinder" size="0.1 0.05"/>
    </default>
    <default class="sphere">
      <geom type="sphere" material="sphere" size="0.1"/>
    </default>
    <default class="border">
      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
    </default>
    <default class="borderpost">
      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
    </default>
  </default>

  <asset>
    <model file="humanoid.xml"/>
    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
  </asset>

  <visual>
    <quality shadowsize="4096" offsamples="8"/>
    <map znear="0.1" force="0.05"/>
  </visual>

  <statistic extent="4"/>

  <worldbody>
    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
    <geom class="border" fromto="-3 3 0 3 3 0"/>
    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
    <geom class="border" fromto="3 3 0 3 -3 0"/>
    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
    <geom class="borderpost" pos="3 3 0"/>
    <geom class="borderpost" pos="-3 3 0"/>
    <geom class="borderpost" pos="3 -3 0"/>
    <geom class="borderpost" pos="-3 -3 0"/>

    <replicate count="4" euler="0 0 90">
      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
    </replicate>

    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
      <body pos="-2 0 0.5" euler="30 40 0">
        <freejoint/>
        <geom class="capsule"/>
      </body>
    </replicate>

    <attach model="Humanoid" body="torso" prefix="1_"/>

    <frame euler="0 0 72">
      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
        <body pos="-2 0 0.5" euler="20 40 60">
          <freejoint/>
          <geom class="ellipsoid"/>
        </body>
      </replicate>
    </frame>

    <frame euler="0 0 144">
      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
        <body pos="-2 0 0.5" euler="30 70 110">
          <freejoint/>
          <geom class="box"/>
        </body>
      </replicate>
    </frame>

    <frame pos="1 1 0" euler="0 0 144">
      <attach model="Humanoid" body="torso" prefix="2_"/>
    </frame>

    <frame euler="0 0 216">
      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
        <body pos="-2 0 0.5" euler="60 30 0">
          <freejoint/>
          <geom class="cylinder"/>
        </body>
      </replicate>
    </frame>

    <frame euler="0 0 288">
      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
        <body pos="-2 0 0.5" euler="60 30 0">
          <freejoint/>
          <geom class="sphere"/>
        </body>
      </replicate>
    </frame>

  </worldbody>
</mujoco>