<mujoco>
  <asset>
      <mesh file="ycb/005_tomato_soup_can/005_tomato_soup_can1.stl" name="soup_can" />
  </asset>
  <worldbody>
    <body>
      <geom type="mesh" mesh="soup_can"/>
      <joint type="free"/>
    </body>
  </worldbody>
</mujoco>