mujoco

<mujoco model="Mixed convex objects">
  <statistic extent="1.5" meansize=".05"/>

  <visual>
    <rgba haze="0.15 0.25 0.35 1"/>
    <map shadowscale="0.5" zfar="40" force="0.01"/>
  </visual>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    <mesh name="icosahedron" scale=".05 .05 .05"
          vertex="0         1       1.618
                  0        -1       1.618
                  0         1      -1.618
                  0        -1      -1.618
                  1         1.618   0
                 -1         1.618   0
                  1        -1.618   0
                 -1        -1.618   0
                  1.618     0       1
                  1.618     0      -1
                 -1.618     0       1
                 -1.618     0      -1"/>
    <mesh name="meshbox" scale=".05 .05 .05"
          vertex="-1 -1 -1
                   1 -1 -1
                   1  1 -1
                   1  1  1
                   1 -1  1
                  -1  1 -1
                  -1  1  1
                  -1 -1  1"/>
    <hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
            elevation="1 0 1 0 1
                       0 2 0 2 0
                       1 0 1 0 1
                       0 2 0 2 0
                       1 0 1 0 1"/>
  </asset>

  <default>
    <geom solref="2e-3 1" size=".05 .15 .07"/>
  </default>

  <option timestep="1e-3" solver="PGS"/>

  <worldbody>
    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>

    <geom type="plane" size="3 3 .01"/>
    <geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
    <replicate count="4" euler="0 0 90">
      <geom type="hfield" hfield="hfield" zaxis="1 0 0"  pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
    </replicate>

    <replicate count="15" euler="0 0 60" offset="0 0 .15">
      <body pos="-.3 -.3 .3" euler="10 20 30">
        <freejoint/>
        <geom type="ellipsoid"/>
      </body>
    </replicate>

    <replicate count="15" euler="0 0 60" offset="0 0 .15">
      <body pos="-.3 -.3 1" euler="10 20 30">
        <freejoint/>
        <geom type="box"/>
      </body>
    </replicate>

    <replicate count="15" euler="0 0 60" offset="0 0 .15">
      <body pos="-.3 -.3 .6" euler="10 20 30">
        <freejoint/>
        <geom type="capsule"/>
      </body>
    </replicate>

    <replicate count="15" euler="0 0 60" offset="0 0 .15">
      <body pos="-.3 .3 .3" euler="10 20 30">
        <freejoint/>
        <geom type="cylinder"/>
      </body>
    </replicate>

    <replicate count="20" euler="0 0 60" offset="0 0 .15">
      <body pos="-.15 .15 .3" euler="10 20 30">
        <freejoint/>
        <geom type="mesh" mesh="icosahedron"/>
      </body>
    </replicate>

    <replicate count="20" euler="0 0 60" offset="0 0 .15">
      <body pos=".15 -.15 .3" euler="10 20 30">
        <freejoint/>
        <geom type="mesh" mesh="meshbox"/>
      </body>
    </replicate>

    <replicate count="15" euler="0 0 60" offset="0 0 .15">
      <body pos=".05 0 .3" euler="10 20 30">
        <freejoint/>
        <geom type="sphere"/>
      </body>
    </replicate>
  </worldbody>
</mujoco>