<mujoco model="lemon">
  <asset>
    <mesh file="meshes/lemon.msh" name="lemon_mesh" scale="1.5 1 1"/>
    <texture file="../textures/lemon.png" type="2d" name="tex-lemon"/>
    <material name="lemon" reflectance="0.7" texrepeat="60 50" texture="tex-lemon" texuniform="true"/>
  </asset>
  <worldbody>
    <body>
      <body name="object">
        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="lemon" group="0" condim="4"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.035" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.0375 0.02 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>