<mujoco>
    <!--  Copyright © 2018, Roboti LLC

          This file is licensed under the MuJoCo Resource License (the "License").
          You may not use this file except in compliance with the License.
          You may obtain a copy of the License at

            https://www.roboti.us/resourcelicense.txt
    -->

    <statistic extent="2" meansize=".05"/>

    <option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>

    <visual>
        <rgba haze="0.15 0.25 0.35 1"/>
        <quality shadowsize="2048"/>
        <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
    </visual>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <texture name="texcarpet" type="2d" file="carpet.png"/>
        <texture name="texsponge" type="2d" file="sponge.png"/>
        <texture name="texmarble" type="cube" file="marble.png"/>

        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name="matcarpet" texture="texcarpet"/>
        <material name="matsponge" texture="texsponge" specular="0.3"/>
        <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
    </asset>

    <worldbody>
        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>

        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>

        <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
            <geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
        </body>
    </worldbody>
</mujoco>