<mujoco>
    <asset>
        <mesh file="tet-pyramid.stl" name="tet-pyramid"/>
    </asset>
    <worldbody>
        <body pos="-0 -0.1 0.5" quat="0 0 0.707107 0.707107">
            <geom mesh="tet-pyramid" type="mesh" friction="0.000000"/>
            <freejoint/>
        </body>
        <body pos="-0 0 -0.5" quat="0 0 0.707107 0.707107">
            <geom mesh="tet-pyramid" type="mesh" friction="0.000000"/>
        </body>
    </worldbody>
</mujoco>
