<?xml version="1.0"?>
<raisim>
  <gravity value="0, 0, -9.81"/>
  <timeStep value="0.001"/>
  <objects>
    <ground name="floor" height="0"/>
    <sphere name="load" mass="1" appearance="0.08, 0.46, 0.86, 1">
      <dim radius="0.1"/>
      <state pos="0, 0, 0.8" quat="1, 0, 0, 0"
             lin_vel="0, 0, 0" ang_vel="0, 0, 0"/>
    </sphere>
  </objects>
  <tendon name="suspension" type="spatial"
          spring_lower="0" spring_upper="1" stiffness="500" damping="8"
          upper_limit="1.5" width="0.008" color="0.9, 0.35, 0.08, 1">
    <drive force="-2"/>
    <site pos="0, 0, 2"/>
    <site object="load" local_index="0" pos="0, 0, 0"/>
  </tendon>
</raisim>
