<mujoco model="Soft ellipsoid">
    <!--  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
    -->

    <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="8 12 16" spacing="0.05">
                <skin texcoord="true" material="matskin" rgba=".7 .7 .7 1"/>
                <geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
            </composite>
        </body>
    </worldbody>
</mujoco>
