<mujoco>
	<include file="MPL.xml"/>
	<include file="assets.xml"/>

	<contact>
		<exclude body1="world" body2="Key"/>
	</contact>

	<worldbody>	
		<geom name="Wall" type="box" material="MatWood" pos="0 0.1 .15" size="0.07 0.01 0.1501"/>

		<body name="Key" pos="0 0.05 0.2">
			<geom name="teeth" type="box" material="MatFoil" pos="0 0.02 0" size="0.001 0.02 0.01" condim="3" friction="1 .001 .001"/>
			<geom name="Pad" type="cylinder" material="MatFoil" pos="0 -0.035 0" size="0.04 0.003" euler="0 1.57 0" condim="3" friction="1 .001 .001"/>
			<joint name="key" type="hinge" axis="0 1 0" pos="0 0 0" limited="true" range="0 1.57" stiffness="0.02" damping="0.001"/>
		</body>
	</worldbody>
</mujoco>