<mujoco model="can">
  <asset>
    <mesh file="meshes/master_chef_can.stl" name="master_chef_can_mesh"/>
    <texture file="../textures/master_chef_can.png" name="tex-master_chef_can"/>
    <material name="master_chef" reflectance="0.7" texrepeat="5 5" texture="tex-master_chef_can" texuniform="true"/>
  </asset>
  <worldbody>
    <body>
      <body name="object">
        <geom pos="0 0 0" mesh="master_chef_can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="master_chef" group="0" condim="4"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" 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>
