<mujoco>
    <compiler angle="degree"/>
    <option timestep="0.001" integrator="RK4" iterations="50" solver="Newton" jacobian="sparse" cone="elliptic" tolerance="1e-10"/>
   
    <default>
        <geom solimp=".9 .9 .01"/>
        <default class="peg">
            <geom mass="0.5" size="0.007 0.1" axisangle="1 0 0 87" type="cylinder" condim='1' rgba=".80 .20 .20 1"/>
            
        </default>

    </default>
    <asset>
        <texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>  
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" 
            rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>  
        <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" 
            width="512" height="512"/>  
        <material name='geom' texture="texgeom" texuniform="true"/>
        <material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <statistic extent="3"/>

    <worldbody>
        <geom pos="0 0 -.8" type="plane" size="3 3 .5" rgba=".7 .7 .7 1" material="MatPlane"/>

        <body name='plinko-token' pos='-.44 -.05 0.9'>
            <joint name="token" type="free"/>
            <geom name='obj' type='cylinder' size='.048 .004' axisangle='1 0 0 90'/>
        </body>

        <body name="board" pos="0 0 0">

            <geom axisangle='1 0 0 -3' condim="3" size="0.55 0.01 0.75" rgba=".80 .80 .80 1" type="box"/>

            <body name="glass" pos="0 -.16 0">
                <geom condim="3" size="0.6 0.01 0.75" rgba=".20 .20 .80 0.05" type="box"/>
            </body>

            <!-- board -->
            <body name="base" pos="0 0 -0.7">
                <geom condim="3" size="0.585 0.25 0.02" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="left-base" pos="-0.56 0 0">
                <geom condim="3" size="0.025 0.3 0.75" rgba=".80 .20 .20 0.5" type="box"/>
            </body>

            <body name="right-base" pos="0.56 0 0">
                <geom condim="3" size="0.025 0.3 0.75" rgba=".80 .20 .20 0.5" type="box"/>
            </body>

            <!-- slots -->

            <body name="slot-1" pos="-.42 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>
            
            <body name="slot-2" pos="-.30 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-3" pos="-.18 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-4" pos="-.06 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-5" pos=".06 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-6" pos=".18 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-7" pos=".30 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <body name="slot-8" pos=".42 -.07 -.5">
                <geom condim="3" size="0.003 0.08 0.2" rgba=".80 .20 .20 1" type="box"/>
            </body>

            <!-- entry row-->
            <body name="0-peg1" pos="-.42 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg2" pos="-.30 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg3" pos="-.18 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg4" pos="-.06 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg5" pos=".06 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg6" pos=".18 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg7" pos=".30 -.07 .7">
                <geom class="peg"/>
            </body>

            <body name="0-peg8" pos=".42 -.07 .7">
                <geom class="peg"/>
            </body>

            <!-- row 1 -->
            <body name="1-peg1" pos="-.48 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg2" pos="-.36 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg3" pos="-.24 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg4" pos="-.12 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg5" pos=".0 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg6" pos=".12 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg7" pos=".24 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg8" pos=".36 -.07 .6">
                <geom class="peg"/>
            </body>

            <body name="1-peg9" pos=".48 -.07 .6">
                <geom class="peg"/>
            </body>

            <!-- row 2 -->
            <body name="2-peg1" pos="-.42 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg2" pos="-.30 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg3" pos="-.18 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg4" pos="-.06 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg5" pos=".06 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg6" pos=".18 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg7" pos=".30 -.07 .5">
                <geom class="peg"/>
            </body>

            <body name="2-peg8" pos=".42 -.07 .5">
                <geom class="peg"/>
            </body>

            <!-- row 3 -->
            <body name="3-peg1" pos="-.48 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg2" pos="-.36 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg3" pos="-.24 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg4" pos="-.12 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg5" pos=".0 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg6" pos=".12 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg7" pos=".24 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg8" pos=".36 -.07 .4">
                <geom class="peg"/>
            </body>

            <body name="3-peg9" pos=".48 -.07 .4">
                <geom class="peg"/>
            </body>

            <!-- row 4 -->
            <body name="4-peg1" pos="-.42 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg2" pos="-.30 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg3" pos="-.18 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg4" pos="-.06 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg5" pos=".06 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg6" pos=".18 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg7" pos=".30 -.07 .3">
                <geom class="peg"/>
            </body>

            <body name="4-peg8" pos=".42 -.07 .3">
                <geom class="peg"/>
            </body>

            <!-- row 5 -->
            <body name="5-peg1" pos="-.48 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg2" pos="-.36 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg3" pos="-.24 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg4" pos="-.12 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg5" pos=".0 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg6" pos=".12 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg7" pos=".24 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg8" pos=".36 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="5-peg9" pos=".48 -.07 .2">
                <geom class="peg"/>
            </body>

            <body name="6-peg1" pos="-.42 -.07 .1">
                <geom class="peg"/>
            </body>

            <!-- row 6 -->
            <body name="6-peg2" pos="-.30 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg3" pos="-.18 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg4" pos="-.06 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg5" pos=".06 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg6" pos=".18 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg7" pos=".30 -.07 .1">
                <geom class="peg"/>
            </body>

            <body name="6-peg8" pos=".42 -.07 .1">
                <geom class="peg"/>
            </body>

            <!-- row 7 -->
            <body name="7-peg1" pos="-.48 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg2" pos="-.36 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg3" pos="-.24 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg4" pos="-.12 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg5" pos=".0 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg6" pos=".12 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg7" pos=".24 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg8" pos=".36 -.07 0">
                <geom class="peg"/>
            </body>

            <body name="7-peg9" pos=".48 -.07 0">
                <geom class="peg"/>
            </body>

            <!-- row 8 -->
            <body name="8-peg1" pos="-.42 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg2" pos="-.30 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg3" pos="-.18 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg4" pos="-.06 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg5" pos=".06 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg6" pos=".18 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg7" pos=".30 -.07 -.1">
                <geom class="peg"/>
            </body>

            <body name="8-peg8" pos=".42 -.07 -.1">
                <geom class="peg"/>
            </body>

            <!-- row 9 -->
            <body name="9-peg1" pos="-.48 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg2" pos="-.36 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg3" pos="-.24 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg4" pos="-.12 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg5" pos=".0 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg6" pos=".12 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg7" pos=".24 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg8" pos=".36 -.07 -.2">
                <geom class="peg"/>
            </body>

            <body name="9-peg9" pos=".48 -.07 -.2">
                <geom class="peg"/>
            </body>

            <!-- row 10 -->
            <body name="10-peg1" pos="-.42 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg2" pos="-.30 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg3" pos="-.18 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg4" pos="-.06 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg5" pos=".06 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg6" pos=".18 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg7" pos=".30 -.07 -.3">
                <geom class="peg"/>
            </body>

            <body name="10-peg8" pos=".42 -.07 -.3">
                <geom class="peg"/>
            </body>
        </body>
    </worldbody>
</mujoco>