<mujoco model="hollowbox">
  <asset>
    <texture file="../textures/wood-tiles.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">
        <geom pos="0 0 0" size="0.03 0.03 0.008" type="box" group="0" friction="1 1 1"/>
        <geom pos="0 0 0" material="sceramic" size="0.03 0.03 0.004" type="box" conaffinity="0" contype="0" group="1" mass="0.001"/>
        <geom pos="0 0.03 0.03" size="0.03 0.008 0.03" type="box" group="0" friction="1 1 1"/>
        <geom pos="0 0.03 0.03" size="0.03 0.008 0.03" type="box" conaffinity="0" contype="0" group="0"  mass="0.001" material="sceramic"/>
        <geom pos="0.03 0 0.03" size="0.008 0.03 0.03" type="box" group="0" friction="1 1 1"/>
        <geom pos="0.03 0 0.03" size="0.008 0.03 0.03" type="box" conaffinity="0" contype="0" group="0" mass="0.001" material="sceramic"/>
        <geom pos="0 -0.03 0.03" size="0.03 0.008 0.03" type="box" group="0" friction="1 1 1"/>
        <geom pos="0 -0.03 0.03" size="0.03 0.008 0.03" type="box" conaffinity="0" contype="0" group="0"  mass="0.001" material="sceramic"/>
        <geom pos="-0.03 0 0.03" size="0.008 0.03 0.03" type="box" group="0" friction="1 1 1"/>
        <geom pos="-0.03 0 0.03" size="0.008 0.03 0.03" type="box" conaffinity="0" contype="0" group="0" mass="0.001" material="sceramic"/>
      </body>

      <site rgba="0 0 0 0" size="0.001" pos="0 0 -0.008" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.001" pos="0 0 0.068" name="top_site"/>
      <site rgba="0 0 0 0" size="0.001" pos="0.038 0.038 0" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
