mujoco

<mujoco model="gmsh">
  <option timestep="0.01" integrator="implicitfast" solver="CG"/>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
  </asset>

  <visual>
    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
    <map force="0.1" zfar="30"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <quality shadowsize="4096"/>
    <global offwidth="800" offheight="800"/>
  </visual>

  <worldbody>
    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
    <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_binary_fTetWild.msh">
      <edge equality="true"/>
      <contact selfcollide="none"/>
    </flexcomp>
  </worldbody>
</mujoco>