mujoco

<mujoco>
  <custom>
    <numeric name="duration" data="0.1"/>
  </custom>

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

  <worldbody>
    <body>
      <geom type="box" size=".2 .2 .2"/>
      <body pos="-.4 0 0">
        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
      </body>
    </body>

    <body pos="1 0 0">
      <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
      <body pos="0 0 1">
        <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
        <site/>
      </body>
    </body>

    <body pos="2 0 0">
      <geom size=".3"/>
      <body pos=".2 0 0">
        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
        <camera/>
        <light pos="0 0 1.5"/>
      </body>
    </body>
  </worldbody>
</mujoco>