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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.
     You may obtain a copy of the License at

         http://www.apache.org/licenses/LICENSE-2.0

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     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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<mujoco model="100 Humanoids">
  <option timestep="0.005">
      <!-- modification of model/humanoid/100_humanoids.xml: enable sleep -->
    <flag sleep="enable"/>
  </option>

  <size memory="100M"/>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
    <texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
    <material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
    <model name="humanoid" file="humanoid.xml"/>
  </asset>

  <visual>
    <map force="0.1" zfar="30"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <quality numslices="16" numstacks="8"/>
    <global offwidth="800" offheight="800"/>
  </visual>

  <worldbody>
    <geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
    <light directional="true" diffuse=".9 .9 .9" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="true"/>
    <light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
    <replicate count="10" euler="0 0 36" sep="-">
      <frame pos="1.2 0 0">
        <replicate count="10" euler="0 0 17" sep="-" offset="0.6 0 0">
          <attach model="humanoid" body="torso" prefix="_"/>
        </replicate>
      </frame>
    </replicate>
  </worldbody>
</mujoco>
