mujoco

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     you may not use this file except in compliance with the License.
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         http://www.apache.org/licenses/LICENSE-2.0

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     distributed under the License is distributed on an "AS IS" BASIS,
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<mujoco model="Quadratic">
  <include file="scene.xml"/>

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

  <size memory="10M"/>

  <visual>
    <map stiffness="100"/>
    <rgba bv="0 0 0 0" bvactive="0 0 0 0"/>
  </visual>

  <worldbody>
    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
    </body>
    <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
              radius=".001" rgba="0 .7 .7 1" mass="5" name="softbody" dof="quadratic">
      <elasticity young="1e4" poisson="0.1" damping="0.0001"/>
      <contact selfcollide="none"/>
    </flexcomp>
  </worldbody>
</mujoco>