<mujoco model="triangle_box">
  <worldbody>
    <body name="triangle_box">
      <body name="collision">
        <geom pos="0 0 0" mesh="triangle_box" type="mesh" density="3" rgba="0 1 0 1" group="1" condim="6"/>
      </body>
      <body name="visual">
        <geom pos="0 0 0" mesh="triangle_box" type="mesh" rgba="0 1 0 1" conaffinity="0" contype="0" group="0" mass="0.0001"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
  <asset>
    <mesh file="meshes/triangle_box.stl" name="triangle_box" scale="0.001 0.001 0.001"/>
  </asset>
</mujoco>
