<?xml version="1.0" ?>
<mujoco>
    <asset>
        <mesh file="banana.stl" name="banana"/>
    </asset>
    <worldbody>
        <body name="box" pos="0 0 0.2">
            <geom size="0.15 0.15 0.15" type="box"/>
            <joint axis="1 0 0" name="box:x" type="slide"/>
            <joint axis="0 1 0" name="box:y" type="slide"/>
        </body>
        <body name="floor" pos="0 0 0.025">
            <geom size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/>
        </body>
    </worldbody>
</mujoco>
