<mujoco model="170-crossed-arm-governor-valve-rod">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0 0 0.3374295345" mass="0.4" fullinertia="0.002716916723 0.002717656342 0.00002179033924 0 0 0"/><body name="sleeve" pos="0 0 0.465912"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.14 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.02119063545" mass="0.01" fullinertia="0.00001040483247 0.00001042100742 6.423885173e-7 0 0 0"/><body name="link_r" pos="-0.01 0 0"><joint name="j_lr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.01275466977 -0.014 -0.02522826269" mass="0.03" fullinertia="0.00001254521734 0.00001572903561 0.000003327472127 0 -0.000006260387349 0"/></body>
<body name="link_l" pos="0.01 0 0"><joint name="j_ll" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.01275466977 -0.014 -0.02522826269" mass="0.03" fullinertia="0.00001254521734 0.00001572903561 0.000003327472127 0 0.000006260387349 0"/></body>
</body>
<body name="arm_r" pos="-0.012 0 0.34"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.004" frictionloss="0"/><inertial pos="0.04405857375 0.0006890016329 -0.09448294446" mass="0.4" fullinertia="0.001448710016 0.001762524027 0.0003535460745 0.000004525696363 0.0006525846688 -0.000009705407277"/></body>
<body name="arm_l" pos="0.012 0 0.34"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.004" frictionloss="0"/><inertial pos="-0.0453525739 -0.001107012412 -0.09725793814" mass="0.4" fullinertia="0.001295390176 0.001576243351 0.000320572321 0.00001713477113 -0.000580873327 0.00003674566933"/></body>
</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_r" body1="link_r" body2="arm_r" anchor="-0.031583 0 -0.06247" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_l" body1="link_l" body2="arm_l" anchor="0.031583 0 -0.06247" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_r" body2="arm_r"/><exclude body1="link_l" body2="arm_l"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
