<mujoco model="milk">
  <asset>
    <mesh file="meshes/milk.stl" name="milk_mesh" scale="0.9 0.9 0.9"/>
    <texture file="../textures/ceramic.png" name="tex-ceramic"/>
    <material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
  </asset>
  <worldbody>
    <body>
      <body name="visual">
        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="0" mass="0.0001"/>
        <geom pos="0 0 0" mesh="milk_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 -0.085" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>