<mujoco model="lemon">
  <asset>
    <mesh file="meshes/lemon.stl" name="lemon_mesh" scale="3 3 3"/>
    <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 name="object0" pos="0.70 0.0 0.84">
        <joint name="object0:joint" type="free" damping="0.1" limited="false"></joint>
        <geom pos="0 0 0" name="object0" 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="1" condim="4"/>
      </body>
     <!--  <body name="visual">
        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" material="lemon"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" material="lemon" conaffinity="0" contype="0"  group="1" mass="0.0001"/>
      </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"/> -->


  </worldbody>
</mujoco>