mujoco

<mujoco>
  <compiler alignfree="true"/>
  <worldbody>
    <light pos="0 0 10"/>
    <geom type="plane" pos="0 0 -1.5" size="5 5 .01"/>
    <body name="body" pos="0 0 1">
      <freejoint/>
      <geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/>
      <geom name="geom1" type="capsule" size=".1" fromto="1 0 0 1 1 0"/>
      <frame pos="1 1 0" euler="0 30 0">
        <geom name="geom2" type="capsule" size=".1" fromto="0 0 0 0 0 1"/>
        <site name="site" pos="-.2 0 1" type="box" size=".03 .06 .1" quat="1 2 3 4" rgba="0 1 0 1"/>
        <light name="light" pos="0 0 1.1" dir="0 -1 -1"/>
        <camera name="camera" pos="0 0 1.2" euler="10 20 30"/>
      </frame>
    </body>
    <site name="anchor" pos="0 0 2" size=".1"/>
  </worldbody>

  <tendon>
    <spatial springlength="0 1" stiffness="10000" width=".05">
      <site site="site"/>
      <site site="anchor"/>
    </spatial>
  </tendon>

  <sensor>
    <framepos objtype="body" objname="body"/>
    <framexaxis objtype="body" objname="body"/>
    <frameyaxis objtype="body" objname="body"/>
    <framepos objtype="geom" objname="geom1"/>
    <framexaxis objtype="geom" objname="geom1"/>
    <frameyaxis objtype="geom" objname="geom1"/>
    <framepos objtype="geom" objname="geom2"/>
    <framexaxis objtype="geom" objname="geom2"/>
    <frameyaxis objtype="geom" objname="geom2"/>
    <framepos objtype="site" objname="site"/>
    <framexaxis objtype="site" objname="site"/>
    <frameyaxis objtype="site" objname="site"/>
    <framepos objtype="camera" objname="camera"/>
    <framexaxis objtype="camera" objname="camera"/>
    <frameyaxis objtype="camera" objname="camera"/>
  </sensor>
</mujoco>