<mujoco model="box">
  <worldbody>
      <body name="box" pos="0.2 1.0 0.47">
            <joint name="red_box_joint" type="free" frictionloss="0.01" />
            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
            <geom contype="1" conaffinity="1"  condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
        </body>
  </worldbody>
</mujoco>
