Question about "sensor/touch" object orientation and "capsule" in site

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

 

My QUESTION2's code:
<site fromto="" rgba="" size="" type="capsule
">

 

Thanks for the outstanding document, I can use euler="0 1.57 0" to modify it.