<mujoco model="152-ellipsograph">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="stud_a" pos="0.051423 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.02" frictionloss="0"/><inertial pos="0 -0.012 0" mass="0.3" fullinertia="0.000021328 0.000003456 0.000021328 0 0 0"/><body name="bar" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.03874974161 -0.02085168229 0.04618019032" mass="0.5" fullinertia="0.0005204474391 0.000877123914 0.0003706057741 0.000005379020762 0.0004248899365 -0.000006410394099"/></body>
</body>
<body name="stud_b" pos="0 0 0.061284"><joint name="j_z" type="slide" axis="0 0 1" damping="0.02" frictionloss="0"/><inertial pos="0 -0.012 0" mass="0.3" fullinertia="0.000021328 0.000003456 0.000021328 0 0 0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_b" body1="bar" body2="stud_b" anchor="-0.051423 0 0.061284" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="bar" body2="stud_b"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="5" forcerange="-5 5"/></actuator>
</mujoco>
