<mujoco model="cube">
    <default>
        <default class="cube">
            <geom type="box" size="0.02 0.02 0.02" rgba="0.96 0.26 0.33 1.0" density="1240" solref="0.004 1" contype="3" group="1"/>
            <site type="sphere" size=".005" rgba="0 1 0 1" group="5"/>
        </default>
    </default>

    <worldbody>
        <body name="object_0" pos="0.3 0 .02">
            <freejoint name="object_joint_0"/>
            <geom name="object_0" class="cube"/>
            <site name="com_0" group="5"/>
        </body>
        <body name="object_target_0" pos="0.45 0 .02" mocap="true">
            <geom name="target_object_0" class="cube" rgba=".5 .5 .5 .2" contype="0" conaffinity="0"/>
        </body>
    </worldbody>
</mujoco>
