mujoco

<mujoco>
  <option>
    <flag multiccd="enable"/>
  </option>

  <asset>
    <texture type="skybox" builtin="gradient" width="512" height="512"
             rgb1="1 1 1" rgb2="1 1 1"/>
    <mesh name="domino" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
          scale=".15 1 3"/>
  </asset>

  <worldbody>
    <geom type="box" size="5 5 .1" pos="0 0 -.1"/>
    <body pos="-2 0 2.99" euler="0 10 0">
      <freejoint/>
      <geom type="mesh" name="domino1" mesh="domino" rgba=".1 .1 .1 1"/>
    </body>
    <body pos="2 0 2.99" euler="0 -10 0">
      <freejoint/>
      <geom type="mesh" name="domino2" mesh="domino" rgba=".1 .1 .1 1"/>
    </body>
  </worldbody>
</mujoco>