      <ul>
                  <li> A <b>Node</b> "FirstObject" to store the components describing the object we want to simulate. It is important that the hierarchy of the nodes in the scene graph reflects the scene you want to model.</li>
                  <li> The shape is modeled using a <b>MechanicalObject</b> which describes the particle states. </li>
                  <li> A <b>UniformMass</b> is added for the MechanicalObject, giving  the same mass for each particle of the MechanicalObject. </li>
    