mujoco

<mujoco>
  <compiler fitaabb="true"/>

  <asset>
    <mesh file="stanford_bunny.obj"/>
  </asset>

  <worldbody>
    <body euler="90 0 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
    <body euler="90 0 0" pos=".25 0 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
    <body euler="90 0 0" pos=".5 0 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
    <body euler="90 0 0" pos=".75 0 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
    <body euler="90 0 0" pos="1 0 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
    <body euler="90 0 0">
      <geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
    </body>
    <body euler="90 0 0" pos=".25 0 0">
      <geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
    </body>
    <body euler="90 0 0" pos=".5 0 0">
      <geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
    </body>
    <body euler="90 0 0" pos=".75 0 0">
      <geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
    </body>
    <body euler="90 0 0" pos="1 0 0">
      <geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
    </body>
    <light name="left" pos="0 0 1"/>
    <light name="right" pos="1 0 1"/>
  </worldbody>
</mujoco>