<mujoco model="cereal">
  <asset>
    <mesh file="meshes/cereal.stl" name="cereal_mesh" scale="0.4 1.0 0.4"/>
    <texture type="cube" file="../textures/cereal.png" rgb1="1 1 1" name="tex-cereal"/>
    <material name="cereal" reflectance="0.5" texrepeat="3 3" texture="tex-cereal" texuniform="false"/>
  </asset>
  <worldbody>
    <body>
      <body name="collision">
        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="150" friction="0.95 0.3 0.1" material="cereal" group="1" condim="4"/>
      </body>
      <body name="visual">
        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" material="cereal"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" material="cereal"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.02 0.015 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
