<mujocoinclude>
    <body childclass="block_base">
      <inertial pos="0 0 0" mass=".75" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
      <geom material="block_red" pos="0 0 0" size="0.03 0.015" type="cylinder"/>
      <geom class="block_col" pos="0 0 0" size="0.03 0.015" type="cylinder"
      	solimp="0.99 0.99 0.01" solref="0.01 1"/>
    </body>
</mujocoinclude>
