<mujoco>
 <body pos="1.5 0.75 0.1" name="table">
     <geom size="0.3 0.706 0.3" type="box" mass="2000" rgba="0.63 0.32 0.18 1"></geom>
 </body>
 <body pos="1.6 0.4 .53" name="boxobstacle">
     <geom size="0.15 0.2 0.22" type="box" mass="2000" rgba="0.66 0.66 0.66 1"></geom>
 </body>
    <body pos="1.31 1.06 0.4" name="goal">
     <geom size="0.05 0.065 0.01" type="box" mass="2000" rgba="1 0 0 1"></geom>
 </body>

</mujoco>
