<mujoco model="bottle">
  <asset>
    <mesh file="bottle.stl" name="bottle_mesh" scale="1.5 1.5 1.5" />
    <texture file="./textures/wooden.png" name="tex-glass" type="skybox" />
    <material name="glass" reflectance="0.5" texrepeat="5 5" texture="tex-glass" texuniform="true" />
  </asset>
  <worldbody>
    
      <body name="object0" pos="0.7061974898719656 -0.05657545185648878 0.82" quat="0.31074527439575395 -0.6283541591885324 0.31074527439575395 0.6283541591885324">
        <joint damping="0.1" limited="false" name="object0:joint" type="free" />
        <geom density="50" friction="0.95 0.4 0.2" group="1" material="glass" mesh="bottle_mesh" name="object0" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" />
        
      </body>

  </worldbody>
</mujoco>