mujoco

<mujoco model="Cylinder">
  <statistic meansize=".05"/>

  <worldbody>
    <light pos=".5 0 3"/>
    <light pos="-.5 0 3"/>
    <geom type="plane" size="2 2 .01"/>

    <body pos="-.3 0 .3" euler="80 10 0">
      <freejoint/>
      <replicate count="30" euler="0 0 12">
        <geom type="box" pos="0 -.12 0" size=".01315 .005 .1" rgba=".8 0 0 1"/>
      </replicate>
    </body>

    <body pos="0 0 .4" euler="20 20 0">
      <freejoint/>
      <replicate count="10" euler="0 0 36">
        <geom type="box" pos="0 -0.067 0" size=".025 .01 .1" rgba="0 .8 0 1"/>
      </replicate>
    </body>

    <body pos=".3 0 .3" euler="30 30 0">
      <freejoint/>
      <replicate count="4" euler="0 0 90">
        <geom type="box" pos="0.005 -0.05 0" size=".05 .005 .08" rgba="0 0 .8 1"/>
      </replicate>
    </body>

  </worldbody>
</mujoco>