mujoco

<!-- Please activate Camera rendering when loading this model.
     The frustum should match exactly the fron face of the box. -->

<mujoco>
  <option>
    <flag multiccd="enable"/>
  </option>

  <visual>
    <map znear="0.01"/>
    <rgba frustum="1. 1. 0 0.2"/>
    <scale frustum="3"/>
  </visual>

  <asset>
    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
    <texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
  </asset>

  <worldbody>
    <light pos="0 0 3"/>
    <geom type="plane" size="10 10 .01"/>

    <geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
    <!-- 8mm focal length lenses -->
    <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
            sensorsize="9.6e-3 6e-3"/>

    <body euler="0 0 90">
      <geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
      <!-- 8mm focal length lenses -->
      <camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
              sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
    </body>
  </worldbody>
</mujoco>