Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
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+<!-- Copyright 2021 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="Soft ellipsoid">
+
+    <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="ellipsoid" count="5 7 9" spacing="0.05">
+                <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>