<mujoco model="blocks">
  <custom>
    <numeric data="-0.169076 0.006912 0.050073 1.0 0.0 0.0 0.0" name="1_block_l_initpos" />
    <numeric data="0.207085 0.013862 0.050073 1.0 0.0 0.0 0.0" name="2_block_r_initpos" />
  </custom>
<asset>
    <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
    <material name="light-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true" />
  </asset>
  <equality>
    <weld active="false" body1="1_block_l" body2="2_block_r" solimp="1 1 0.5" solref="0.01 0.3" />
  </equality>
  <worldbody>
    <body name="1_block_l" pos="-0.101 0.0 0.05" quat="1 0 0 0">
      <geom density="100" material="light-wood" name="block_l_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" size="0.1 0.02 0.05" solref="0.001 1" type="box" />
      <site name="left-right,0,180,conn_site1" pos="0.101 0. 0." quat="0.707 0 -0.707 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="1_block_l_bottom_site" pos="0.0 0.0 -0.05" rgba="0 0 1 0.3" size="0.0015" />
      <site name="1_block_l_top_site" pos="0.0 0.0 0.05" rgba="0 0 1 0.3" size="0.0015" />
      <site name="1_block_l_horizontal_radius_site" pos="0. 0. 0." rgba="0 0 1 0." size="0.1" />
    </body>
    <body name="2_block_r" pos="0.101 0.0 0.05" quat="1 0 0 0">
      <geom density="100" material="light-wood" name="block_r_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" size="0.1 0.02 0.05" solref="0.001 1" type="box" />
      <site name="right-left,0,180,conn_site1" pos="-0.101 0. 0." quat="0.707 0 -0.707 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.01" />
      <site name="2_block_r_bottom_site" pos="0.0 0.0 -0.05" rgba="0 0 1 0.3" size="0.0015" />
      <site name="2_block_r_top_site" pos="0.0 0.0 0.05" rgba="0 0 1 0.3" size="0.0015" />
      <site name="2_block_r_horizontal_radius_site" pos="0. 0. 0." rgba="0 0 1 0." size="0.1" />
    </body>
  </worldbody>
<actuator /><sensor /><contact /><default /></mujoco>