mujoco

<mujoco model="Container">
  <statistic extent="1.5" meansize=".05"/>

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

  <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 name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>

    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
    </body>
  </worldbody>

  <worldbody>
    <replicate count="4" euler="0 0 90">
      <geom type="plane" size=".5 .5 .05" zaxis="1 0 0"  pos="-.5 0 -.25"/>
    </replicate>
  </worldbody>
</mujoco>