mujoco

<mujoco>
  <statistic meansize="0.15"/>

  <visual>
    <global realtime=".25" elevation="-10"/>
  </visual>

  <default>
    <geom rgba=".5 .5 .5 .5"/>
  </default>

  <worldbody>
    <light pos="0 0 3"/>
    <body pos="1 0 0">
      <joint axis="0 -1 0" armature="1" stiffness="10" damping="8" springref="200"/>
      <inertial mass="1" diaginertia=".002 .002 .002" pos="0 0 1.1"/>
      <site name="rf" type="cylinder" pos="-.1 0 1.1" zaxis="-1 .1 0" size=".02 .05"/>
    </body>
  </worldbody>

  <sensor>
    <rangefinder site="rf" data="dist normal"/>
  </sensor>
</mujoco>