<mujoco model="tray">
  <worldbody>
         <body name="tray_body" pos="0.5 0 0.25" quat="0 0 0 0">
             <geom mass="2000" pos="0 0 0.02" size="0.3 0.6 0.01" type="box" />
             <geom pos="0 0.61 0.06" size="0.3 0.01 0.06" type="box" />
             <geom pos="0 -0.61 0.06" size="0.3 0.01 0.06" type="box" />
             <geom pos="0.31 0 0.06" size="0.01 0.62 0.06" type="box" />
             <geom pos="-0.31 0 0.06" size="0.01 0.62 0.06" type="box" />
         </body>
  </worldbody>
</mujoco>