<mujocoinclude name='rod'>
    <body name="rod" pos="0 0 0" euler="1.57 0 0">
        <geom type="capsule" size=".04 .165" rgba=" 1 1 0 1" mass=".5" group="4" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 .16" mass=".005" euler="1.57 0 0" group="4" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 .16" mass=".005" euler="0 1.57 0" group="4" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 -.16" mass=".005" euler="1.57 0 0" group="4" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 -.16" mass=".005" euler="0 1.57 0" group="4" />

        <geom type="cylinder" size=".08.165" rgba=" 1 1 0 1" group="1" />
        <geom type="capsule" size=".03 .1" pos="0.1 0 0.13" euler="0 1.57 0" rgba=" 0 0 0 1" group="1" />
        <geom type="capsule" size=".03 .1" pos="0.1 0 -0.13" euler="0 1.57 0" rgba=" 0 0 0 1" group="1" />
        <geom type="capsule" size=".03 .15" pos="0.22 0 0" rgba=" 0 0 0 1" group="1" />
        <!-- <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 .16" euler="1.57 0 0" group="1" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 .16" euler="0 1.57 0" group="1" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 -.16" euler="1.57 0 0" group="1" />
        <geom type="capsule" size=".01 .04" rgba=" 1 0 0 1" pos="0 0 -.16" euler="0 1.57 0" group="1" /> -->

        <site name="rod_center" type="sphere" size="0.0405" pos="0 0 0" rgba=".4 .4 .4 0.1"/>
        <site name="rod_left" type="sphere" size="0.041" pos="0 0 0.165" rgba="0 0 0 0.1"/>
        <site name="rod_right" type="sphere" size="0.041" pos="0 0 -0.165" rgba="1 1 1 0.1"/>
    </body>
</mujocoinclude>