<mujocoinclude>
  <!-- Based on https://github.com/deepmind/dm_control/blob/master/dm_control/entities/props/duplo/duplo2x4.xml
       with minor changes to fit into our holdout envs -->
  
<worldbody>
    <body>
    <geom name='base' class='base'/>

    <geom name='wall_x0' class='wall' pos='-.0151 0 .0088' size='.0008 .0302 .0088'/>
    <geom name='wall_x1' class='wall' pos='+.0151 0 .0088' size='.0008 .0302 .0088'/>
    <geom name='wall_y0' class='wall' pos='0  -.031 .0088' size='.0159 .0008 .0088'/>
    <geom name='wall_y1' class='wall' pos='0  +.031 .0088' size='.0159 .0008 .0088'/>
    <geom name='wall_z1' class='wall' pos='0      0 .0184' size='.0159 .0318 .0008'/>

    <!-- Site that fully encloses all of the geoms in the brick. -->
    <site name='bounding_box' type='box' size='0.016 0.0319 0.012' pos='0 0 0.0119' group='3'/>

    <!-- Sites used to determine whether or not two bricks are clicked together. -->
    <site name='stud_00' pos='-.008 -.024 .0238'/>
    <site name='stud_01' pos='-.008 -.008 .0238'/>
    <site name='stud_02' pos='-.008 +.008 .0238'/>
    <site name='stud_03' pos='-.008 +.024 .0238'/>
    <site name='stud_10' pos='+.008 -.024 .0238'/>
    <site name='stud_11' pos='+.008 -.008 .0238'/>
    <site name='stud_12' pos='+.008 +.008 .0238'/>
    <site name='stud_13' pos='+.008 +.024 .0238'/>

    <site name='hole_00' pos='-.008 -.024 .0046'/>
    <site name='hole_01' pos='-.008 -.008 .0046'/>
    <site name='hole_02' pos='-.008 +.008 .0046'/>
    <site name='hole_03' pos='-.008 +.024 .0046'/>
    <site name='hole_10' pos='+.008 -.024 .0046'/>
    <site name='hole_11' pos='+.008 -.008 .0046'/>
    <site name='hole_12' pos='+.008 +.008 .0046'/>
    <site name='hole_13' pos='+.008 +.024 .0046'/>

    <geom name='stud_00' class='stud' pos='-.00805 -.024 .0215'/>
    <geom name='stud_01' class='stud' pos='-.00805 -.008 .0215'/>
    <geom name='stud_02' class='stud' pos='-.00805 +.008 .0215'/>
    <geom name='stud_03' class='stud' pos='-.00805 +.024 .0215'/>
    <geom name='stud_10' class='stud' pos='+.00805 -.024 .0215'/>
    <geom name='stud_11' class='stud' pos='+.00805 -.008 .0215'/>
    <geom name='stud_12' class='stud' pos='+.00805 +.008 .0215'/>
    <geom name='stud_13' class='stud' pos='+.00805 +.024 .0215'/>

    <geom name='studcap_00' class='stud-capsule' pos='-.008 -.024 .0215'/>
    <geom name='studcap_01' class='stud-capsule' pos='-.008 -.008 .0215'/>
    <geom name='studcap_02' class='stud-capsule' pos='-.008 +.008 .0215'/>
    <geom name='studcap_03' class='stud-capsule' pos='-.008 +.024 .0215'/>
    <geom name='studcap_10' class='stud-capsule' pos='+.008 -.024 .0215'/>
    <geom name='studcap_11' class='stud-capsule' pos='+.008 -.008 .0215'/>
    <geom name='studcap_12' class='stud-capsule' pos='+.008 +.008 .0215'/>
    <geom name='studcap_13' class='stud-capsule' pos='+.008 +.024 .0215'/>

    <geom name='flange_00' class='flange' pos='-.0135 -.024 .00885'/>
    <geom name='flange_01' class='flange' pos='-.0135 -.008 .00885'/>
    <geom name='flange_02' class='flange' pos='-.0135 +.008 .00885'/>
    <geom name='flange_03' class='flange' pos='-.0135 +.024 .00885'/>
    <geom name='flange_10' class='flange' pos='+.0135 -.024 .00885'/>
    <geom name='flange_11' class='flange' pos='+.0135 -.008 .00885'/>
    <geom name='flange_12' class='flange' pos='+.0135 +.008 .00885'/>
    <geom name='flange_13' class='flange' pos='+.0135 +.024 .00885'/>

    <geom name='flange_00y' class='flange' pos='-.00805 -.02945 .00885' quat='1 0 0 1'/>
    <geom name='flange_01y' class='flange' pos='-.00805 +.02945 .00885' quat='1 0 0 1'/>
    <geom name='flange_10y' class='flange' pos='+.00805 -.02945 .00885' quat='1 0 0 1'/>
    <geom name='flange_11y' class='flange' pos='+.00805 +.02945 .00885' quat='1 0 0 1'/>

    <geom name='tube_0' class='tube' pos='0 -.016 .0098'/>
    <geom name='tube_1' class='tube' pos='0 0     .0098'/>
    <geom name='tube_2' class='tube' pos='0 +.016 .0098'/>

    <geom name='inner_x0' class='wall' pos='-.01045  0 .011' size='.00385 .00055 .0066'/>
    <geom name='inner_x1' class='wall' pos='+.01045  0 .011' size='.00385 .00055 .0066'/>
    <geom name='inner_y0' class='wall' pos='0    -.008 .0132' size='.0004 .0014 .0044'/>
    <geom name='inner_y1' class='wall' pos='0     .008 .0132' size='.0004 .0014 .0044'/>
    <joint type="free"></joint>
  </body>
  </worldbody>
</mujocoinclude>
