mujoco

<mujoco>
  <option density="1.225" viscosity="1.8e-5" wind="0 0 1" integrator="implicit"/>

  <worldbody>
    <light pos="0 0 1"/>
    <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
    <body>
      <freejoint/>
      <body>
        <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4"/>
      </body>
      <body>
        <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4"/>
      </body>
    </body>
  </worldbody>
</mujoco>