diff --git a/clr_mujoco_config/description/assets/full/apriltag/apriltag.obj b/clr_mujoco_config/description/assets/full/apriltag/apriltag.obj
new file mode 100644
index 0000000..20a5db3
--- /dev/null
+++ b/clr_mujoco_config/description/assets/full/apriltag/apriltag.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965dd4fb79dbdfe5a7bb8192ec011fb7da9a29d71d6c5ab3de9e53d4a6ca2727
+size 1729
diff --git a/clr_mujoco_config/description/assets/full/apriltag/apriltag.xml b/clr_mujoco_config/description/assets/full/apriltag/apriltag.xml
new file mode 100644
index 0000000..eb34e94
--- /dev/null
+++ b/clr_mujoco_config/description/assets/full/apriltag/apriltag.xml
@@ -0,0 +1,21 @@
+<mujoco model="apriltag">
+  <default>
+    <default class="visual">
+      <geom group="2" type="mesh" contype="0" conaffinity="0"/>
+    </default>
+    <default class="collision">
+      <geom group="3" type="mesh"/>
+    </default>
+  </default>
+  <asset>
+    <texture type="2d" name="material_m36_0" file="material_m36_0.png"/>
+    <material name="material_m36_0" texture="material_m36_0" specular="0.4000000000000001" shininess="0.001"/>
+    <mesh file="apriltag.obj"/>
+  </asset>
+  <worldbody>
+    <body name="apriltag">
+      <geom material="material_m36_0" mesh="apriltag" class="visual"/>
+      <geom mesh="apriltag" class="collision"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.mtl b/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.mtl
new file mode 100644
index 0000000..0390678
--- /dev/null
+++ b/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.mtl
@@ -0,0 +1,6 @@
+newmtl material_m36_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_m36_0.png
diff --git a/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.png b/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.png
new file mode 100644
index 0000000..7afc0f3
Binary files /dev/null and b/clr_mujoco_config/description/assets/full/apriltag/material_m36_0.png differ
diff --git a/clr_mujoco_config/description/clr.xml b/clr_mujoco_config/description/clr.xml
index e55c147..f20aad7 100644
--- a/clr_mujoco_config/description/clr.xml
+++ b/clr_mujoco_config/description/clr.xml
@@ -202,6 +202,9 @@
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_0.obj" scale="1.0 1.0 1.0"/>
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_1.obj" scale="1.0 1.0 1.0"/>
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_2.obj" scale="1.0 1.0 1.0"/>
+    <mesh name="apriltag" content_type="model/obj" file="full/apriltag/apriltag.obj"/>
+    <texture type="2d" name="material_m36_0" file="assets/full/apriltag/material_m36_0.png"/>
+    <material name="material_m36_0" texture="material_m36_0" specular="0.4000000000000001" shininess="0.001"/>
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_3.obj" scale="1.0 1.0 1.0"/>
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_4.obj" scale="1.0 1.0 1.0"/>
     <mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_5.obj" scale="1.0 1.0 1.0"/>
@@ -559,6 +562,7 @@
         <site name="lorge/internal_rotary_wheel" pos="0 0 0" quat="1.0 0 0 0"/>
       </body>
       <geom material="new_mat_color.013" mesh="simplified_hatch_4060_face" class="visual" pos="" quat=""/>
+      <geom pos="-0.1 -1 1.1" type="mesh" material="material_m36_0" contype="0" conaffinity="0" group="1" density="0" mesh="apriltag"/>
       <geom mesh="simplified_hatch_4060_face_collision_0" rgba="0.23114486446067817 0.6443186093814433 0.8157719947585795 1" class="collision" pos="" quat=""/>
       <geom mesh="simplified_hatch_4060_face_collision_1" rgba="0.2852520794576222 0.46912330212483255 0.3072842247308417 1" class="collision" pos="" quat=""/>
       <geom mesh="simplified_hatch_4060_face_collision_2" rgba="0.8530487553194221 0.3179077121549385 0.23740639023622678 1" class="collision" pos="" quat=""/>
