mujoco

<mujoco model='test'>
  <asset>
    <mesh file="stanford_bunny.obj"/>
  </asset>

  <worldbody>
    <geom type="plane" size=".5 .5 .05"/>
    <body name="bunny1" pos="0 0 .4" euler="90 0 0">
      <freejoint/>
      <geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
      <flexcomp type="mesh" file="stanford_bunny.obj"
          rgba="0 .7 .7 1" name="bunny1" mass="5" rigid="true">
          <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      </flexcomp>
    </body>
    <body name="bunny2" pos="0 0 .2" euler="90 0 0">
      <freejoint/>
      <geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
      <flexcomp type="mesh" file="stanford_bunny.obj"
          rgba="0 .7 .7 1" name="bunny2" mass="5" rigid="true">
          <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
      </flexcomp>
    </body>
  </worldbody>
</mujoco>