<mujoco>
  <body name="peg" euler="0 0 0" pos="0 0 0.05">
    <inertial pos="0 0 0" mass="1"/>
    <geom class="visual" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>
    <geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>

    <geom class="visual" type="box" pos="0 0 0.042" size="0.038125 0.02541 0.00476"/>
    <geom class="collision" type="box" pos="0 0 0.042" size="0.038125 0.02541 0.00476"/>
    
    <geom class="visual" type="cylinder" pos="0 0 0.07789" size="0.006725 0.03113"/>
    <geom name="peg_tip_geom" class="collision" type="cylinder" pos="0 0 0.07789" size="0.006725 0.03113" friction="0.3 0.005 0.0001"/>

    <site name="peg_tip" pos="0 0 0.10902" euler="0 0 0" size="0.005, 0.005, 0.005"/>
    <site name="peg_ft_site" pos="0 0 0" euler="0 0 0" size="0.005, 0.005, 0.005"/>
  </body>
</mujoco>