mujoco

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

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

  <worldbody>
    <light pos="0 -1 3"/>
    <geom name="floor" type="plane" size="1 1 .01"/>
     <site name="inside" type="box" size=".5 .5 .5" rgba="0 0 0 0"/>

    <body name="force_static" pos="0 0 .025">
      <geom name="0" type="box" size=".15 .15 .025"/>
      <site name="force_static"/>
    </body>

    <body name="1" pos="0 0 .15">
      <freejoint/>
      <geom name="1" type="box" size=".1 .1 .05" pos="0 0 .05"/>
      <body name="force_dynamic" pos="0 0 -.05">
        <geom name="1_bottom" type="box" size=".1 .1 .05"/>
        <site name="force_dynamic"/>
      </body>
    </body>

    <body name="2" pos="0 0 .35">
      <freejoint/>
      <geom name="2" type="box" size=".1 .1 .1"/>
      <site name="2" type="box" size=".11 .11 .11" rgba=".5 .7 .5 .2"/>
    </body>

    <body name="3" pos="0 0 1.2" euler="10 20 30">
      <freejoint/>
      <geom name="3" type="box" size=".1 .1 .1"/>
      <site name="rf" type="cylinder" size=".01 .03" pos="0 0 -.11" zaxis="0 0 -1"/>
    </body>
  </worldbody>

  <sensor>
    <!-- for most sensors, expect match between sleep enabled/disabled -->
    <contact subtree1="1" geom2="2"/>
    <contact subtree1="1" geom2="2" reduce="maxforce" data="force"/>
    <contact subtree1="1" geom2="floor"/>
    <contact subtree1="1"/>
    <contact subtree1="1" reduce="maxforce" data="force"/>
    <insidesite name="insidesite" site="inside" objtype="body" objname="3"/>
    <framelinvel objtype="body" objname="3"/>
    <framelinvel objtype="body" objname="3" reftype="body" refname="2"/>
    <gyro name="gyro" site="2"/>
    <touch name="touch" site="2"/>
    <clock name="clock"/>
    <rangefinder site="rf"/>
    <force site="force_dynamic"/>

    <!-- sensors marked with user="1": expect mismatch between sleep enabled/disabled -->
    <contact user="1" reduce="maxforce" data="force"/>
    <contact user="1" geom1="floor"/>
    <contact user="1" site="2"/>
    <force   user="1" site="force_static"/>
  </sensor>
</mujoco>