<mujoco>
    <asset>
        

        <material name="material:object" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:hidden" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:target" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
    </asset>

  
    <worldbody>
        <body name="yum1" pos="0.99 0.01 2.4">
            <geom name="yum1" type="ellipsoid" size="0.03 0.03 0.04" material="material:object" condim="4"></geom>
            <geom name="yum1_hidden" type="ellipsoid" size="0.029 0.029 0.03" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
            <site name="yum1:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
            <joint name="yum1:joint" type="free" damping="0.01" limited="false"></joint>
        </body>
    </worldbody>
</mujoco>
