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<mujoco>
<option density="1000">
<flag gravity="disable"/>
</option>
<worldbody>
<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
<light pos="0 0 20"/>
<body name="body_stateless" pos="0 0 .5">
<freejoint/>
<geom type="box" size=".5 .5 .1" pos="0 0 .4"/>
<site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/>
<site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/>
<site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/>
<site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/>
</body>
</worldbody>
<actuator>
<general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
<general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
<general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
<general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
</actuator>
</mujoco>
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