<mujoco model="177-uncoupling-engines-uncoupled">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="ring_h0" vertex="-0.036 -0.018 -0.0108 -0.036 -0.009 -0.0108 0.036 -0.018 -0.0108 0.036 -0.009 -0.0108 0.036 -0.018 -0.0198 0.036 -0.009 -0.0198 -0.036 -0.018 -0.0198 -0.036 -0.009 -0.0198"/><mesh name="ring_h1" vertex="-0.036 -0.018 0.0108 -0.036 -0.009 0.0108 0.036 -0.018 0.0108 0.036 -0.009 0.0108 0.036 -0.018 0.0198 0.036 -0.009 0.0198 -0.036 -0.018 0.0198 -0.036 -0.009 0.0198"/></asset>
<size memory="64M"/>
<worldbody>
<body name="arm" pos="0 0 0"><joint name="j_arm" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="0 -0.004187718701 0.09463303373" mass="0.4" fullinertia="0.001783791782 0.001901095353 0.0001223429799 0 0 -0.000007105756052"/><body name="ring" pos="0 0 0.16"><joint name="j_ring" type="hinge" axis="0 -1 0" damping="0.5" frictionloss="0" stiffness="400" springref="0"/><inertial pos="0 -0.01309810316 0" mass="0.1" fullinertia="0.00003609589766 0.00007433005534 0.00003984657781 0 0 0"/><geom name="ring_h0" type="mesh" mesh="ring_h0" contype="16" conaffinity="8" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="ring_h1" type="mesh" mesh="ring_h1" contype="16" conaffinity="8" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wrist" pos="0 0 0.16"><joint name="j_w" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.0162754491 0" mass="0.2" fullinertia="0.00004006586348 0.00001814850299 0.00004006586348 0 0 0"/><geom name="wrist_h0" type="capsule" fromto="0 -0.026 0 0 0.008 0" size="0.01" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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_w" kv="100" forcerange="-200 200"/></actuator>
</mujoco>
