<mujoco model="cubic_with_sites">
  <worldbody>
     <body name="cubic_with_sites" pos="0.5 0.0 0.0" quat="0 0 0 0">
         <joint damping="0.01" name="cubic_with_sites:joint" type="free" />
         <inertial diaginertia="3 3 3" mass=".1" pos="0 0 0 " />
         <geom conaffinity="3" contype="3" density="0" name="cubic_with_sites:geom1" pos="0 0 0" rgba="0.4 0.65 0.89 1" size="0.02 0.02 0.02" type="box" />
     </body>
  </worldbody>
</mujoco>