mujoco

<mujoco>
  <asset>
    <mesh file="stanford_bunny.obj"/>
  </asset>
  <worldbody>
    <site name="lidar" type="cylinder" pos=".7 .1 0" zaxis="1 0 0" size=".02 .05"/>
    <body mocap="true" pos="1 0 0" euler="0 90 0">
      <geom type="mesh" mesh="stanford_bunny"/>
    </body>
  </worldbody>

  <sensor>
    <rangefinder site="lidar"/>
  </sensor>
</mujoco>