mujoco

<mujoco>
  <asset>
    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
  </asset>

  <worldbody>
    <light pos="0 -1 5" dir="1 1 -10"/>
    <light pos="1.5 -1 5" dir="-1 1 -10"/>
    <camera name="front" pos=".75 -5 1.5" xyaxes="1 0 0 0 .3 1"/>

    <geom type="plane" material="grid" size="0 0 .1" pos="0 0 -.1"/>
    <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
    <geom type="box" size="0.1" fromto=".5 0 0 .5 0 1"/>
    <geom type="cylinder" size="0.1" fromto="1 0 0 1 0 1"/>
    <geom type="ellipsoid" size="0.1" fromto="1.5 0 0 1.5 0 1"/>
  </worldbody>
</mujoco>