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<mujoco model="obj_coke">
<asset>
<texture type="2d" name="coke" file="coke_red.png" />
<material name="coke_mat" texture="coke" specular="0.5" shininess="0.5" />
<mesh file="coke_red.obj" />
</asset>
<worldbody>
<body name="obj_coke" pos="0 0 0" euler="0 0 0">
<joint type="free" />
<body pos="0 0 0" euler="1.57 0.0 0">
<geom type="mesh" material="coke_mat" mesh="coke_red" class="visual_collision" />
<geom type="box" pos="0 0 -0.001" euler="-1.57 0 0" size="0.025 0.025 0.0005" class="no_visual_collision"/>
<inertial pos="0 0 0" mass="1.0" diaginertia="0.01 0.01 0.01" />
</body>
</body>
</worldbody>
</mujoco>
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