<mujocoinclude>
    <body childclass="peg_block_base">
      <geom material="peg_block_red" mesh="block_inner" pos="0 0 0.095"/>
      <geom material="peg_block_wood" mesh="block_outer" pos="0 0 0.1"/>
      <geom class="peg_block_col" pos="0 0 0.195" size="0.09 0.1 0.005" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="0 0 0.05" size="0.09 0.096 0.05" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="-0.06 0 0.13" size="0.03 0.096 0.03" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="0.06 0 0.13" size="0.03 0.096 0.03" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="0 0 0.175" size="0.09 0.096 0.015" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="0.095 0 0.1" size="0.005 0.1 0.1" type="box" mass="1000"/>
      <geom class="peg_block_col" pos="-0.095 0 0.1" size="0.005 0.1 0.1" type="box" mass="1000"/>
      <site name="hole" pos="0 -.096 0.13" size="0.005" rgba="0 0.8 0 1"/>
      <site name="bottom_right_corner_collision_box_1" pos="0.1 -0.11 0.01" size="0.0001"/>
      <site name="top_left_corner_collision_box_1" pos="-0.1 -.15 0.096" size="0.0001"/>
      <site name="bottom_right_corner_collision_box_2" pos="0.1 -0.11 0.16" size="0.0001"/>
      <site name="top_left_corner_collision_box_2" pos="-0.1 -.17 0.19" size="0.0001"/>
    </body>
</mujocoinclude>
