<?xml version="1.0" encoding="utf-8"?>
<mujoco model="button">
  <worldbody>
      <body>
        <body name="object" pos="0.3 0 0">
	    <body name="base" pos="0 0 0" quat="1 0 0 0">
             <geom size="0.04 0.02" pos="0 0 0" type="cylinder" material="MatMetal" group="1" name="base"/>
	       <body name="switch">
               <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="0.243455" diaginertia="0.0913751 0.0521615 0.043714" />
                  <joint name="hinge" pos="0 0 0.03" axis="1 0 0" range="-0.3 0.3" damping="0.1" frictionloss="0.1" limited="true"/>
	     	  <geom size="0.025 0.007 0.025" pos="0 0 0.05"
			type="box" material="MatMetal" group="1"
			name="switch"/>
		  <geom size="0.0325 0.0125" pos="0 0 0.08"
			quat="0 0 0.701072 0.713091" type="cylinder"
			material="MatMetal" group="1" name="switch_pad"/>

	       </body>
          </body>
        </body>
        <site name="bottom_site" pos="0 0 -0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="horizontal_radius_site" pos="0.3 0 0" rgba="0 0 0 0" size="0.1"/>
      </body>
    </worldbody>
</mujoco>
