mujoco

  <mujoco>
    <default>
      <site rgba="1 0 0 1" size="0.03"/>
    </default>
    <worldbody>
      <light pos="0 0 3"/>
      <body pos="1.1 0 1">
        <geom type="box" size=".1 .6 .375"/>
        <site name="frontorigin" pos="-.1  .6  .375"/>
        <site name="frontcenter" pos="-.1 0 0"/>
      </body>
      <body pos="0 0 0">
        <joint axis="0 0 1" range="-180 180" limited="false"/>
        <geom type="cylinder" size=".2 .05" pos="0 0 0.9"/>
        <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
                resolution="1920 1200" name="fixedcamera"/>
      </body>
    </worldbody>
    <sensor>
      <camprojection site="frontorigin" camera="fixedcamera"/>
      <camprojection site="frontcenter" camera="fixedcamera"/>
    </sensor>
  </mujoco>