mujoco

<mujoco>
  <default>
    <geom size=".8 .9"/>
    <!-- These are arbitrary, the capsule-related `MjCGeomTest` instances pass for any values. -->
  </default>

  <worldbody>
    <body pos="-2 0 0" name="sphere">
      <geom type="sphere"/>
    </body>

    <body name="cylinder">
      <geom type="cylinder"/>
    </body>

    <body pos="2 0 0" name="capsule">
      <geom type="capsule"/>
    </body>
  </worldbody>
</mujoco>