mujoco

<mujoco>
  <option>
    <flag multiccd="enable"/>
  </option>

  <visual>
    <quality shadowsize="8192"/>
    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
    <map force="0.1"/>
  </visual>

  <asset>
    <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
          scale="1 1 .3"/>
  </asset>

  <worldbody>
    <light pos="0 0 1"/>
    <geom type="mesh" mesh="box" pos="0 0 -.3"/>
    <body pos="0 0 .02" euler="90 40 0">
      <freejoint/>
      <geom type="capsule" size=".03 .1"/>
    </body>
  </worldbody>
</mujoco>