<mujoco>
    <asset>
        <mesh file="cube.stl" name="cube"/>
        <mesh file="erleben/cliff.stl" name="erleben/cliff"/>
    </asset>
    <worldbody>
        <body pos="-0 0 0.05" quat="0 0 0.707107 0.707107">
            <geom mesh="cube" type="mesh" friction="0.000000"/>
            <freejoint/>
        </body>
        <body pos="-0 0 -1.0" quat="0 0 0.707107 0.707107">
            <geom mesh="erleben/cliff" type="mesh" friction="0.000000"/>
        </body>
    </worldbody>
</mujoco>
