<!-- 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="100 Humanoids">
  <option timestep="0.005"/>

  <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 0 0">
        <replicate count="10" euler="0 0 15" sep="-" offset="0.5 0 0">
          <attach model="humanoid" body="torso" prefix="_"/>
        </replicate>
      </frame>
    </replicate>
  </worldbody>
</mujoco>