mujoco

<mujoco>
  <worldbody>
    <light pos="0 0 3"/>
    <geom type="plane" size="1 1 .01"/>

    <body pos="0 .1 .1" euler="0 0 45">
      <freejoint/>
      <geom type="box" size="0.1 0.1 0.1" rgba="0 0 1 1"/>
    </body>

    <body pos="0 -.2 .1" euler="0 0 20">
      <freejoint/>
      <geom type="box" size="0.1 0.1 0.1" rgba="1 0 0 1"/>
    </body>

    <body pos=".2 0 .1" euler="0 0 10">
      <freejoint/>
      <geom type="box" size="0.1 0.1 0.1" rgba="0 1 0 1"/>
    </body>
  </worldbody>
</mujoco>