<mujoco model="elliptic contact">
  <option cone="elliptic" solver="PGS" gravity="0 0 -9.81"/>
  <worldbody>
    <geom name="floor" type="plane" size="1 1 0.1"/>
    <body name="block" pos="0 0 0.099">
      <freejoint/>
      <geom name="block_geom" type="box" size="0.1 0.1 0.1" mass="1"/>
    </body>
  </worldbody>
  <contact>
    <pair geom1="floor" geom2="block_geom" condim="3"
          friction="0.8 0.4 0.02 0.005 0.005"/>
  </contact>
</mujoco>
