
<mujoco model="plate">
  <asset>
    <texture file="../textures/ceramic.png" type="cube" name="ceramic-met"/>
    <material name="sceramic" reflectance="0.5" shininess="1.0" specular="1.0" texrepeat="1 1" texture="ceramic-met" texuniform="true"/>
  </asset>
  <worldbody>
    <body>

      <body name="object" pos="0 0 0">
        <geom pos="0 0 0" size="0.01 0.01 0.02" type="box" group="0" friction="1 0.005 0.0001" condim="4" solimp="0.99 0.99 0.01" solref="0.001 1"/>
        <geom pos="0 0 0" material="sceramic" size="0.01 0.01 0.02" type="box" conaffinity="0" contype="0" group="0" mass="0.001" condim="4" solimp="0.99 0.99 0.01" solref="0.001 1"/>
        <geom pos="0 0 0.02" size="0.06 0.007" type="cylinder" group="0" friction="1 1 1" condim="4" solimp="0.99 0.99 0.01" solref="0.001 1"/>
        <geom pos="0 0 0.02" material="sceramic" size="0.06 0.007" type="cylinder" conaffinity="0" contype="0" group="0" mass="0.001" condim="4" solimp="0.99 0.99 0.01" solref="0.001 1"/>
      </body>

      <site rgba="0 0 0 0" size="0.001" pos="0.0 0.0 -0.02" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.001" pos="0.0 0.0 0.034" name="top_site"/>
      <site rgba="0 0 0 0" size="0.001" pos="0.06 0 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
