assets/mjcf/teh.xml

<?xml version="1.0" ?>
<mujoco model = "base">
    <asset>
        <mesh name="mesh_teh" file="../obj/teh.obj"/>
    </asset>
    <worldbody>
        <body name = "teh">
            <freejoint/>
            <geom name = "geom_teh" type = "mesh" mesh="mesh_teh"/>
        </body>
    </worldbody>
</mujoco>