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     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
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<mujoco model="Soft box">

    <include file="scene.xml"/>

    <option solver="CG" tolerance="1e-6"/>

    <size nconmax="500" njmax="5000" nstack="5000000"/>

    <worldbody>
        <body pos="0 0 1">
            <freejoint/>
            <composite type="box" count="7 7 7" spacing="0.04">
                <skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
                <geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
            </composite>
        </body>
    </worldbody>
</mujoco>
