mujoco

<mujoco>
  <!-- This model leads to bad contacts from mjc_BoxBox -->
  <statistic meansize=".01" center="-.3 -.14 .055" extent=".2"/>

  <worldbody>
    <light pos="-.3 -.14 1"/>

    <geom type="plane" size="3 3 .01" pos="-0.025 -0.295  0"/>

    <body pos="-.23 -.1 0" euler="0 0 30">
      <geom type="cylinder" size=".01 .0175" pos="-.09 0 .0175"/>
      <body pos="0 0 .03">
        <joint axis="0 1 0"/>
        <geom type="cylinder" size=".005 .039" zaxis="0 1 0" rgba=".84 .15 .33 1"/>
        <geom type="box" size=".1 .02 .005" pos="0 0 .01" rgba=".84 .15 .33 1"/>
      </body>
    </body>

    <body pos="-.3 -.14 .055" euler="0 0 -30">
      <freejoint/>
      <geom type="box" size=".01 .01 .01" rgba=".0 .7 .79 1"/>
    </body>
  </worldbody>
</mujoco>