<mujoco model="benchmark_case">
    <compiler inertiafromgeom='auto' angle='radian' eulerseq='zyx'/>
    <size njmax="5000" nconmax="1000" />
    <option timestep='0.005' iterations='50' solver='PGS' gravity='0 0 -9.81'/>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>      

        <material name='MatPlane' reflectance='0.1' texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

  
    <worldbody>
		<light directional='true' diffuse='1 1 1' specular='0.3 0.3 0.3' pos='0 0 0' dir='0 -.5 -1'/>
        <light directional='true' diffuse='1 1 1' specular='0.3 0.3 0.3' pos='0 0 0' dir='.25 .25 -1'/>
        <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="MatPlane" condim="3"/>
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			<joint type='free'/>
		</body>
    
        <body name="ball_1" pos="0.000000 0.000000 1.209965"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_2" pos="0.000000 0.000000 1.419866"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_3" pos="0.000000 0.000000 1.629703"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_4" pos="0.000000 0.000000 1.840173"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_5" pos="0.000000 0.000000 2.049832"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_6" pos="0.000000 0.209821 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_7" pos="0.000000 0.209934 1.209934"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_8" pos="0.000000 0.209833 1.419667"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_9" pos="0.000000 0.209932 1.629797"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_10" pos="0.000000 0.210114 1.840457"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_11" pos="0.000000 0.209825 2.049123"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_12" pos="0.000000 0.420416 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_13" pos="0.000000 0.420170 1.210085"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_14" pos="0.000000 0.420387 1.420387"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_15" pos="0.000000 0.420096 1.630144"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_16" pos="0.000000 0.419681 1.839362"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_17" pos="0.000000 0.420091 2.050227"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_18" pos="0.000000 0.630180 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_19" pos="0.000000 0.630086 1.210029"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_20" pos="0.000000 0.630158 1.420106"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_21" pos="0.000000 0.630034 1.630034"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_22" pos="0.000000 0.630366 1.840488"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_23" pos="0.000000 0.630554 2.050923"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_24" pos="0.000000 0.839450 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_25" pos="0.000000 0.839765 1.209941"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_29" pos="0.000000 0.839991 2.049988"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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			<joint type='free'/>
		</body>
    
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		</body>
    
        <body name="ball_33" pos="0.000000 1.050141 1.630085"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_34" pos="0.000000 1.049984 1.839987"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_35" pos="0.000000 1.049773 2.049773"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_36" pos="0.209968 0.000000 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    
        <body name="ball_37" pos="0.210007 0.000000 1.210007"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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		</body>
    
        <body name="ball_38" pos="0.209884 0.000000 1.419769"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_39" pos="0.210078 0.000000 1.630234"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_43" pos="0.209829 0.209829 1.209829"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_45" pos="0.210142 0.210142 1.630427"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_46" pos="0.210193 0.210193 1.840772"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_47" pos="0.209804 0.209804 2.049021"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_48" pos="0.210131 0.420262 1.000000"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_49" pos="0.209933 0.419865 1.209933"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_50" pos="0.209987 0.419973 1.419973"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_51" pos="0.210164 0.420328 1.630492"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
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        <body name="ball_52" pos="0.209906 0.419812 1.839624"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_53" pos="0.210093 0.420187 2.050466"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_55" pos="0.209801 0.629403 1.209801"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_56" pos="0.209890 0.629670 1.419780"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_57" pos="0.210001 0.630004 1.630004"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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        <body name="ball_58" pos="0.209894 0.629682 1.839576"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
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		</body>
    
        <body name="ball_215" pos="1.049401 1.049401 2.049401"><geom type="sphere" size="0.100000" mass="10.000000" rgba=".7 .3 .3 1"/>
			<joint type='free'/>
		</body>
    </worldbody>
</mujoco>