<mujoco model="hollowbox-visual">
  <worldbody>
    <body>

      <body name="object">
        <geom pos="0 0 0" size="0.03 0.03 0.008" type="box" conaffinity="0" contype="0" group="1" mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
        <geom pos="0 0.03 0.03" size="0.03 0.008 0.03" type="box" conaffinity="0" contype="0" group="1"  mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
        <geom pos="0.03 0 0.03" size="0.008 0.03 0.03" type="box" conaffinity="0" contype="0" group="1" mass="0.0001"  rgba="0.8 0.8 0.8 0.3"/>
        <geom pos="0 -0.03 0.03" size="0.03 0.008 0.03" type="box" conaffinity="0" contype="0" group="1"  mass="0.0001"  rgba="0.8 0.8 0.8 0.3"/>
        <geom pos="-0.03 0 0.03" size="0.008 0.03 0.03" type="box" conaffinity="0" contype="0" group="1" mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
      </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>
