mujoco

<mujoco>
  <custom>
    <numeric name="duration" data="1.0"/>
  </custom>

  <default>
    <default class="domino">
      <geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
    </default>
  </default>

  <visual>
    <global realtime="0.2"/>
  </visual>

  <option cone="elliptic" impratio="10">
    <flag sleep="enable"/>
  </option>

  <worldbody>
    <light pos="0 0 3"/>
    <geom name="floor" type="plane" size="1 1 .01" pos="0 0 1e-6"/>

    <body pos="-.1 0 .089" euler="0 7 0">
      <freejoint/>
      <geom name="1" type="box" class="domino"/>
    </body>

    <body pos="0 0 .089">
      <freejoint/>
      <geom name="2" type="box" class="domino" contype="0" conaffinity="0"/>
    </body>
  </worldbody>

  <contact>
    <pair geom1="1" geom2="2"/>
    <pair geom1="2" geom2="floor"/>
  </contact>
</mujoco>