<mujoco>
  <body name="peg" euler="0 0 0" pos="0 0 0.05">
    <inertial pos="0 0 0" mass="1"/>
    <geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>
    <geom class="collision" type="box" pos="0 0 0.042" size="0.02041 0.042 0.00476"/>
    <geom class="collision" type="box" pos="0 0 0.08526" size="0.0135 0.014 0.0385" mass="5"/>


    <body name="needle_tip" pos="0 0 0.11289" euler="0 0 0" >
      <site name="needle_tip" pos="0 0 0" quat="1 0 0 0" size="0.005, 0.005, 0.005"/>
    </body>
    <site name="peg_ft_site" pos="0 0 0" euler="0 0 0" size="0.005, 0.005, 0.005"/>
  </body>
</mujoco>