<mujoco>
    <asset>
        <mesh file="erleben/spike.stl" name="erleben/spike"/>
        <mesh file="erleben/wedge.stl" name="erleben/wedge"/>
    </asset>
    <worldbody>
        <body pos="-0 0 3.0001" quat="0.707107 -0.707107 -4.32978e-17 -4.32978e-17">
            <geom mesh="erleben/spike" type="mesh" friction="0.000000"/>
            <freejoint/>
        </body>
        <body pos="-0 0 -3.0" quat="0 0 0.707107 0.707107">
            <geom mesh="erleben/wedge" type="mesh" friction="0.000000"/>
        </body>
    </worldbody>
</mujoco>
