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<body name="rod" pos="-0.16 0 0.0647"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.003" frictionloss="0" stiffness="0.6" springref="0.5"/><inertial pos="0.01277109577 -0.01287749768 -0.0000204138197" mass="0.15" fullinertia="0.000005451431164 0.0009939278074 0.0009924461365 -0.00001374755013 0.000001586190804 2.209131685e-8"/><geom name="rod_h0" type="capsule" fromto="0.16 -0.006 -0.000257 0.16 0.006 -0.000257" size="0.006" contype="16" conaffinity="8" condim="3" friction="0.03 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="link" pos="-0.12 0 0.000193"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.0055 -0.045" mass="0.03" fullinertia="0.00003213716722 0.00003232297135 4.308041288e-7 0 0 0"/></body>
</body>
<body name="upbar" pos="-0.28 0 -0.025107"><joint name="j_x" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 -0.0055 -0.08726484034" mass="0.1" fullinertia="0.000293553795 0.0002942545876 0.000001618392147 0 0 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><connect name="pin_s" body1="link" body2="upbar" anchor="0 0 -0.09" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="upbar"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
