<mujoco model="target">
  <worldbody>
    <body>
      <body name="visual">
        <geom pos="0 0 0" type="box" rgba="1 0 0 0.3"  conaffinity="0" contype="0" group="0"  size="0.03 0.03 0.03"/>
        <geom pos="0 0 0" type="box" rgba="1 0 0 0.3"  conaffinity="0" contype="0" group="1"  size="0.03 0.03 0.03"/>
      </body>
      <site rgba="0 0 0 0" size="0.005" pos="-0.6 -0.6 -0.2" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.5 0.5 0.1" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.2 0.2 0.2" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
