mujoco

<mujoco>
  <visual>
    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular=".1 .1 .1"/>
    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
    <map force="0.1"/>
  </visual>

  <asset>
    <mesh file="cone.obj"/>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
  </asset>

  <worldbody>
    <light pos="1 -1 1.5" dir="-1 1 -1.5" diffuse=".7 .7 .7"/>
    <light pos="-1 1 1.5" dir="1 -1 -1.5" diffuse=".4 .4 .4"/>
    <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".3 .3 .3 1"/>
    <body pos="0 0 1">
      <freejoint/>
      <geom type="mesh" mesh="cone" rgba=".7 .7 .7 1"/>
    </body>
  </worldbody>
</mujoco>