<?xml version="1.0" encoding="utf-8"?>
<mujoco model="arm">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
	<default>
		<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
		<motor ctrllimited="true" ctrlrange="-.4 .4"/>
	</default>
	<option integrator="RK4" timestep="0.002"/>
	<visual>
		<map znear="0.02"/>
	</visual>
	<worldbody>
		<light cutoff="100" diffuse="1 1 1" dir="0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular="0.1 0.1 0.1"/>
		<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
		<body name="block_body" pos="0.0 0.0 3.0">
			<geom name="block_geom" size="0.2 0.2 0.2" type="box"/>
			<site name="box_site" pos="0.0 0.0 -0.2" size="0.05"/>
			<body name="ball" pos="0.0 0.0 -1.0">
				<joint damping="2.0" name="ball_joint" pos="0.0 0.0 -0.2" type="ball"/>
				<joint axis="0 0 1" damping="2.0" type="slide"/>
				<joint axis="0 1 0" damping="2.0" type="slide"/>
				<joint axis="1 0 0" damping="2.0" type="slide"/>
				<geom pos="0.0 0.0 0.0" size="0.2" type="sphere"/>
				<site name="ball_site" pos="0.0 0.0 0.2" size="0.05"/>
			</body>
		</body>
	</worldbody>
	<tendon>
		<spatial damping="100.0" limited="false" name="string" range="0.5 2" rgba=".95 .3 .3 1" stiffness="3700.0" width="0.02">
			<site site="box_site"/>
			<site site="ball_site"/>
		</spatial>
	</tendon>
	<sensor>
		<force site="ball_site" name="ball_sensor"/>
	</sensor>
	<actuator>
		<general ctrllimited="true" ctrlrange="-2 0" gainprm="2000" name="string_actuator" tendon="string"/>
	</actuator>
	<asset>
		<texture fileback="sunny-back.png" filedown="sunny-down.png" filefront="sunny-front.png" fileleft="sunny-left.png" fileright="sunny-right.png" fileup="sunny-up.png" type="skybox"/>
		<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8627450980392157 0.8901960784313725 0.9137254901960784" rgb2="0.9058823529411765 0.9215686274509803 0.9647058823529412" type="cube" width="127"/>
		<texture builtin="checker" height="100" name="texplane" rgb1="0.8235294117647058 0.8117647058823529 0.9450980392156862" rgb2="0.43137254901960786 0.6392156862745098 0.9019607843137255" type="2d" width="100"/>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
		<material name="geom" texture="texgeom" texuniform="true"/>
	</asset>
</mujoco>