<mujoco model="246-pantograph">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="arm_c" pos="0 0 0"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.1146505252 0.008984758082 0.05159273633" mass="0.03451908283" fullinertia="0.0001204569626 0.000693619941 0.0005786758873 0.00002445131053 -0.0002585561257 0.00001100308974"/><body name="arm_a" pos="0.4 0 0.18"><joint name="j_elbow" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.2815441118 0.008369087047 0.1266948503" mass="0.04023672435" fullinertia="0.0001634461975 0.0009509546748 0.0007892343898 5.890015369e-7 0.0003552063775 -2.650506916e-7"/><body name="arm_bu" pos="-0.2 0 0.09"><joint name="j_up" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.1 0.0145 -0.045" mass="0.00888327" fullinertia="0.000006064587157 0.00003566708183 0.0000296395083 0 -0.00001330245968 0"/></body>
</body>
<body name="arm_bl" pos="0.2 0 0.09"><joint name="j_low" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.1218223582 0.008570169954 0.05482006117" mass="0.01136292908" fullinertia="0.00001014760689 0.0000590538634 0.00004918237653 6.233386508e-8 0.00002202588516 -2.805023929e-8"/></body>
</body>
<body name="template" pos="0.03 0 0.18"><joint name="j_hand" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.002625871601 -0.01464988379 0" mass="0.05" fullinertia="0.00001866481534 0.00003950797322 0.00002093425632 2.16619149e-7 0 0"/></body>
<body name="tr_x" pos="0 0 0.18"><joint name="j_bx" type="slide" axis="1 0 0" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="tr_z" pos="0 0 0"><joint name="j_bz" type="slide" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/></body>
</body>
<body name="pen_x" pos="0 0 0.36"><joint name="j_ax" type="slide" axis="1 0 0" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="pen_z" pos="0 0 0"><joint name="j_az" type="slide" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_b" body1="arm_bu" body2="arm_bl" anchor="-0.2 0 -0.09" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_hand" body1="template" body2="arm_bl" anchor="-0.03 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_trace" body1="tr_z" body2="arm_bl" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_pen" body1="pen_z" body2="arm_a" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="arm_bu" body2="arm_bl"/><exclude body1="template" body2="arm_bl"/><exclude body1="tr_z" body2="arm_bl"/><exclude body1="pen_z" body2="arm_a"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
