<mujoco model="round-nut">
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    <texture file="../textures/metal.png" type="2d" name="tex-metal"/>
    <material name="metal" reflectance="0.7" texrepeat="1 1" texture="tex-metal" texuniform="true"/>
  </asset>
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    <body>
      <body name="collision">
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      </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 0.025" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.11 0.05 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>