mujoco

<mujoco>
  <custom>
    <numeric name="duration" data="2.0"/>
  </custom>

  <option>
    <flag sleep="enable"/>
  </option>

  <worldbody>
    <light pos="0 -1 3"/>
    <geom type="plane" size="1 1 .01"/>

    <replicate count="3" offset="0 0 .18" euler="0 0 20">
      <body pos="0 0 .08" sleep="init">
        <freejoint/>
        <geom type="box" size=".1 .1 .1"/>
      </body>
    </replicate>

    <body pos="0 0 1.2" euler="10 20 30">
      <freejoint/>
      <geom type="box" size=".1 .1 .1"/>
    </body>
  </worldbody>
</mujoco>