<mujoco>
    <body name="pushing_table" euler="0 0 0" pos=".7 0 1.16">
        <geom class="collision" type="box" euler="0 0 0" pos="0 0 0" size=".4 .4 0.01" friction="0.2 0.005 0.0001"/>
        <!-- <geom class="collision" type="box" euler="0 0 0" pos=".39 0 0.02" size=".01 .4 0.01"/>
        <geom class="collision" type="box" euler="0 0 0" pos="-.39 0 0.02" size=".01 .4 0.01"/>
        <geom class="collision" type="box" euler="0 0 0" pos="0 .39 0.02" size=".38 .01 0.01"/>
        <geom class="collision" 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">
        <freejoint name="block_position"/>
        <geom name="block_geom" class="collision" condim="3" solimp="1 .9 0.001" friction="0.2 0.005 0.0001" type="box"
              euler="0 0 0" pos="0 0 0" size="0.15 0.01 0.03" mass="1" rgba="0.4 0.3 0.3 1.0"/>
        <!-- <inertial pos="0 0 0" euler="0 0 0" mass=".5" diaginertia="0.000033333 0.001683333 0.001683333"/> -->
        <!-- <inertial pos="0 0 0" euler="0 0 0" mass="50" diaginertia="10 10 10"/> -->
    </body>
</mujoco>