<mujoco>
  <body name="pushing_table" euler="0 0 0" pos=".7 0 1.18">
    <geom class="visual" type="box" euler="0 0 0" pos="0 0 0" size=".4 .4 0.01"/>
    <geom class="visual" type="box" euler="0 0 0" pos=".39 0 0.02" size=".01 .4 0.01"/>
    <geom class="visual" type="box" euler="0 0 0" pos="-.39 0 0.02" size=".01 .4 0.01"/>
    <geom class="visual" type="box" euler="0 0 0" pos="0 .39 0.02" size=".38 .01 0.01"/>
    <geom class="visual" type="box" euler="0 0 0" pos="0 -.39 0.02" size=".38 .01 0.01"/>
  </body>
  <body name="block" euler="0 0 0" pos=".7 0 1.2">
      <joint type="free" name="block_position"/>
      <geom class="visual" type="box" euler="0 0 0" pos="0 0 0" size="0.1 0.01 0.01" mass=".5" rgba="0.4 0.3 0.3 1.0"/>
    </body>
</mujoco>