text:  <!--
   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 pos="0 0 1">
           <joint type="free"/>
           <geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
        </body>
     </worldbody>
  </mujoco>