<mujoco model="ping_pong_paddle">
    <worldbody>
        <body name="paddle_body" pos="0 0 0.12" quat="0.707107 0 0 -0.707107">
            <geom type="box" pos="0 0 0.0" size="0.16 0.01 0.16" rgba="1 0 0 1" group="1" solimp="0 0 1" solref="0.1 0.03"/>
            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
            <inertial pos="0 0 0" mass="3e-1" diaginertia="1e-2 1e-2 1e-2"/>
            <!-- This site was added for visualization. -->
            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 1 0 1" type="sphere" group="1"/>
            <!-- This site was added for visualization. -->
            <site name="grip_site_cylinder" pos="0 0 0" size="0.005 0.01" rgba="0 1 0 0.3" type="cylinder" group="1"/>
        </body>
    </worldbody>
    <sensor>
        <force name="force_ee" site="ft_frame"/>
        <torque name="torque_ee" site="ft_frame"/>
    </sensor>
</mujoco>