<mujoco model="95-oblique-disk-upright-rod">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="disk_h0" vertex="0.08538 0 0.029089 0.08371 0.017558 0.028642 0.078763 0.034442 0.027316 0.07073 0.050001 0.025164 0.059918 0.06364 0.022267 0.046745 0.074832 0.018737 0.031715 0.083149 0.01471 0.015407 0.088271 0.01034 -0.001553 0.09 0.005796 -0.018513 0.088271 0.001251 -0.034821 0.083149 -0.003119 -0.04985 0.074832 -0.007146 -0.063024 0.06364 -0.010676 -0.073835 0.050001 -0.013572 -0.081869 0.034442 -0.015725 -0.086816 0.017558 -0.017051 -0.088486 0 -0.017498 -0.086816 -0.017558 -0.017051 -0.081869 -0.034442 -0.015725 -0.073835 -0.050001 -0.013572 -0.063024 -0.06364 -0.010676 -0.04985 -0.074832 -0.007146 -0.034821 -0.083149 -0.003119 -0.018513 -0.088271 0.001251 -0.001553 -0.09 0.005796 0.015407 -0.088271 0.01034 0.031715 -0.083149 0.01471 0.046745 -0.074832 0.018737 0.059918 -0.06364 0.022267 0.07073 -0.050001 0.025164 0.078763 -0.034442 0.027316 0.08371 -0.017558 0.028642 0.088486 0 0.017498 0.086816 0.017558 0.017051 0.081869 0.034442 0.015725 0.073835 0.050001 0.013572 0.063024 0.06364 0.010676 0.04985 0.074832 0.007146 0.034821 0.083149 0.003119 0.018513 0.088271 -0.001251 0.001553 0.09 -0.005796 -0.015407 0.088271 -0.01034 -0.031715 0.083149 -0.01471 -0.046745 0.074832 -0.018737 -0.059918 0.06364 -0.022267 -0.07073 0.050001 -0.025164 -0.078763 0.034442 -0.027316 -0.08371 0.017558 -0.028642 -0.08538 0 -0.029089 -0.08371 -0.017558 -0.028642 -0.078763 -0.034442 -0.027316 -0.07073 -0.050001 -0.025164 -0.059918 -0.06364 -0.022267 -0.046745 -0.074832 -0.018737 -0.031715 -0.083149 -0.01471 -0.015407 -0.088271 -0.01034 0.001553 -0.09 -0.005796 0.018513 -0.088271 -0.001251 0.034821 -0.083149 0.003119 0.04985 -0.074832 0.007146 0.063024 -0.06364 0.010676 0.073835 -0.050001 0.013572 0.081869 -0.034442 0.015725 0.086816 -0.017558 0.017051"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0.0003766430549 -0.00001156178395 -0.008154066974" mass="2" fullinertia="0.005340360182 0.005156985316 0.006911722451 0.000001615148945 -0.0009065915206 8.032104725e-7"/><geom name="disk_h0" type="mesh" mesh="disk_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="rod" pos="0.06 0 0.027565"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.047154 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.1088399281" mass="0.3" fullinertia="0.00111084663 0.001111367448 0.000004452922662 0 0 0"/><geom name="rod_h0" type="capsule" fromto="0 0 0 0 0 0.19" size="0.005" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
