<mujoco model="cereal-visual">
  <asset>
    <mesh file="meshes/cereal.stl" name="cereal_mesh"/>
  </asset>
  <worldbody>
    <body>
      <body name="object">
        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.10" 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="0.04 0.03 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
