<mujoco>
    <asset>
        <mesh file="plane.obj" name="plane"/>
        <mesh file="cube.obj" name="cube"/>
        <mesh file="tet-corner.obj" name="tet-corner"/>
    </asset>
    <worldbody>
        <body pos="-0 0 -0.5" quat="0 0 0.707107 0.707107">
            <inertial mass="0"/>
            <geom mesh="plane" type="mesh" friction="0.000000"/>
        </body>
        <body pos="1 0 0" quat="0 0 0.707107 0.707107">
            <inertial mass="0"/>
            <geom mesh="cube" type="mesh" friction="0.000000"/>
        </body>
        <body pos="-0 -1 0" quat="0 0 0.707107 0.707107">
            <inertial mass="0"/>
            <geom mesh="cube" type="mesh" friction="0.000000"/>
        </body>
        <body pos="-1 0 0" quat="0 0 0.707107 0.707107">
            <inertial mass="0"/>
            <geom mesh="cube" type="mesh" friction="0.000000"/>
        </body>
        <body pos="0.4995 -0.4995 0.6" quat="0 0 0.707107 0.707107">
            <geom mesh="tet-corner" type="mesh" size="0.999000 0.999000 0.999000" friction="0.000000"/>
        </body>
    </worldbody>
</mujoco>
