<mujoco model="Custom_Hole_18mm">
  <asset>
    <mesh file="../task1_stl_files_correct_pos/Custom_Hole_18mm.stl" name="hole mesh" scale="0.001 0.001 0.001"/>
    <texture file="../textures/red-wood.png" type="2d" name="tex-hole" />
    <material name="hole" reflectance="0.7" texrepeat="15 15" texture="tex-hole" texuniform="true"/>
  </asset>
  <worldbody>
    <body>
      <body name="object">
        <geom pos="0 0 0" mesh="hole mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="hole" group="0" condim="4"/>
      </body>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 0" name="bottom_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="0 0 0.05" name="top_site"/>
        <site rgba="0 0 0 0" size="0.005" pos="-0.03 -0.03 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>