<mujoco model="tray">
  <worldbody>
         <body name="tray_body_g" pos="0.55 -0.15 0.0" quat="0.0 0 0 0">
             <geom mass="2000" pos="0 0 0.02" rgba="0 1 0 1" size="0.1 0.1 0.005" type="box" />
             <geom pos="0 0.1 0.06" rgba="0 1 0 1" size="0.1 0.01 0.06" type="box" />
             <geom pos="0 -0.1 0.06" rgba="0 1 0 1" size="0.1 0.01 0.06" type="box" />
             <geom pos="0.1 0 0.06" rgba="0 1 0 1" size="0.01 0.1 0.06" type="box" />
             <geom pos="-0.1 0 0.06" rgba="0 1 0 1" size="0.01 0.1 0.06" type="box" />
         </body>
  </worldbody>
</mujoco>