Dear all, QUESTION 1: code: <site size=".02 .02" rgba="0 0 0 0" type="cylinder" ></site> I want to change the cylinder pose, the form above is standing, I want it to fall down or just want to rotate its orientation on my mind, which command can I use? QUESTION2: I want to site a capsule type as a touch sensor, but with the code below, can not running will because I use "fromto". But I want to use "fromto" as in <geom/> to set the capsule type touch sensor's pose. Or any idea can help me rotate the orientation of the touch sensor capsule? Your help is grateful Sincerely Jim