<mujoco model="dbar">
    <include file="./common/visual.xml"/>
    <include file="./common/skybox.xml"/>
    <include file="./common/materials.xml"/>
    
    <option timestep="0.01" iterations="50" solver="Newton" integrator="Euler" tolerance="1e-10" gravity = "0 0 0" collision="predefined" viscosity="0"/>

    <size njmax="200" nconmax="100" nstack="2000"/>

    <visual>
        <rgba haze=".15 .25 .35 1"/>
    </visual>

    <default>
        <joint type="ball" pos="0 0 0" limited="false" damping="0"/>
        <motor ctrllimited="false" ctrlrange="-1 1"/>
		<tendon stiffness="0" damping=".2"/>
		<geom size="0.02" mass="1"/>
		<site size="0.04"/>
    </default>

    <worldbody>
        <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>

        <site name="s0" pos="0 0 0"/>

        <body name="bar1" pos="0 0 0">
            <geom type="capsule" fromto="0 0 0  1 0 1" material="self"/>
			<site name="b1e" pos="1 0 1"/>
			<joint name="bottom1"/>
        </body>

		<body pos="0 0 0">
			<geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="grid"/>
			<site name="s1" pos="1.73205 1 0"/>
			<site name="s2" pos="-1.73205 1 0"/>
            <site name="s3" pos="0 -2 0"/>
			<site name="target" pos="-1 1 1" size="0.08" rgba="1 0 0 .3"/>
		</body>
    </worldbody>

    <tendon>
        <spatial name="S1" width="0.02">
            <site site="s1"/>
            <site site="b1e"/>
        </spatial>
		<spatial name="S2" width="0.02">
            <site site="b1e"/>
            <site site="s2"/>
        </spatial>
		<spatial name="S3" width="0.02">
            <site site="b1e"/>
            <site site="s3"/>
        </spatial>
    </tendon>   

    <actuator>
        <motor tendon="S1" gear="1"/>
        <motor tendon="S2" gear="1"/>
		<motor tendon="S3" gear="1"/>
    </actuator>
</mujoco>
