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<mujoco model="object">
<asset>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="object_material" rgba="0.67 0.73 0.78 1"/>
</asset>
<default>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" mass="1" density="0"/>
</default>
</default>
<worldbody>
<body name="object" pos="0.5 -0.3 1" euler='-0 0 -0'>
<!-- <freejoint name="free_object"/> -->
<inertial pos="0 0 0" mass="0.3" diaginertia="0.001 0.001 0.001"/>
<geom name="object" type="box" size=".1 .1 .1" rgba="0.67 0.73 0.78 1" class="visual" material="object_material"/>
<geom name="object_collision" type="box" size=".1 .1 .1" class="collision"/>
</body>
</worldbody>
</mujoco>
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