<?xml version="1.0" ?>

<mujoco>
  <compiler angle="radian" coordinate="local" meshdir="meshes/"/>

  <option>
    <flag gravity="enable"/>
  </option>

  <default>  
    <default class="visual">
      <geom contype="0" conaffinity="0"/>
    </default>
    <default class="collision">
      <geom contype="1" conaffinity="1"/>
    </default>
    <site rgba="1 0 0 .5"/>
  </default> 

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
  </asset>

  <worldbody>
    <light pos="0 0 1000" castshadow="false"/>
    <geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
    <body name="experiment_table" pos="0 0 1">
      <geom type="box" size=".5 .5 .5" pos="0 0 -.5"/>
    </body>
    <body pos="0 0 1">
      <include file="hole/polyhedral_hole_inner=0-0068_outer=0-05_height=0-05_num_facets=16.xml"/>
    </body>
    <body euler="3.14159 0 0" pos="0 0 1.19">
      <inertial mass="0.001" pos="0 0 0" diaginertia="0.0000001 0.0000001 0.0000001"/>
      <freejoint/>
      <include file="peg/peg_collision.xml"/>
    </body>
  </worldbody>
</mujoco>
