mujoco

<mujoco>
  <option density="1000">
    <flag gravity="disable"/>
  </option>

  <worldbody>
    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
    <light pos="0 0 20"/>
    <body name="body_stateless" pos="0 0 .5">
      <freejoint/>
      <geom type="box" size=".5 .5 .1" pos="0 0 .4"/>
      <site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/>
      <site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/>
      <site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/>
      <site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/>
    </body>
  </worldbody>

  <actuator>
    <general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
    <general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
    <general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
    <general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
  </actuator>
</mujoco>