code: def _load_model(self):
          
          super()._load_model()
          self.mujoco_robot.set_base_xpos([0, 0, 0])
  
          # Add arena and robot
          self.model = MujocoWorldBase()
          self.arena = EmptyArena()
          if self.use_indicator_object:
              self.arena.add_pos_indicator()
          self.model.merge(self.arena)
          self.model.merge(self.mujoco_robot)
  
          # Load hole object
          self.hole_obj = self.hole.get_collision(name="hole", site=True)
          self.hole_obj.set("quat", "0 0 0.707 0.707")
          self.hole_obj.set("pos", "0.11 0 0.18")
          self.model.merge_asset(self.hole)
          self.model.worldbody.find(".//body[@name='left_hand']").append(self.hole_obj)
  
          # Load cylinder object
          self.cyl_obj = self.cylinder.get_collision(name="cylinder", site=True)
          self.cyl_obj.set("pos", "0 0 0.15")
          self.model.merge_asset(self.cylinder)
          self.model.worldbody.find(".//body[@name='right_hand']").append(self.cyl_obj)
          self.model.worldbody.find(".//geom[@name='cylinder']").set("rgba", "0 1 0 1")
docs: Loads the peg and the hole models.