<mujoco>
  <body name="peg" pos="0.824 0.302 0.09">
    <!-- contype/conaffinity set to not collide between head and body geoms -->
    <geom name="peg:head" type="box"
      rgba="0 0 1 1" size="0.025 0.025 0.025" pos="0 0 -0.025"
      condim="4" solimp="0.98 0.998 0.001" solref="0.02 1"
      density="700" friction="0.95 0.5 0.2"
      contype="1" conaffinity="1" />
    <geom name="peg:body" type="cylinder"
      rgba="0 0 1 1" size=".0075 .03" pos="0 0 -0.055"
      density="700" friction="0 0 0"
      contype="1" conaffinity="1" />
    <geom name="peg:b1" type="box"
      rgba="0.5 0.5 0.5 0" size="0.001 0.025 0.025" pos="0.024 0 -0.025"
      density="0"
      contype="1" conaffinity="1" />
    <geom name="peg:b2" type="box"
      rgba="0.5 0.5 0.5 0" size="0.001 0.025 0.025" pos="-0.024 0 -0.025"
      density="0"
      contype="1" conaffinity="1" />
    <geom name="peg:b3" type="box"
      rgba="0.5 0.5 0.5 0" size="0.025 0.001 0.025" pos="0 0.024 -0.025"
      density="0"
      contype="1" conaffinity="1" />
    <geom name="peg:b4" type="box"
      rgba="0.5 0.5 0.5 0" size="0.025 0.001 0.025" pos="0 -0.024 -0.025"
      density="0"
      contype="1" conaffinity="1" />
    <joint name="peg:joint" type="free" damping="0.0"/>
  </body>
</mujoco>
