 <!--
 MuJoCo MJCF test file. See http://mujoco.org/book/index.html
  -->
<mujoco>
   <worldbody>
      <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>    
      <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
      <body name="capsule" pos="0 0 1">
         <joint type="free"/>
         <geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
      </body>
   </worldbody>
</mujoco>