<mujoco model="249-ball-and-socket-joint">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h282" type="mesh" mesh="socket_h282" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h283" type="mesh" mesh="socket_h283" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h284" type="mesh" mesh="socket_h284" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h285" type="mesh" mesh="socket_h285" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h286" type="mesh" mesh="socket_h286" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="socket_h287" type="mesh" mesh="socket_h287" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="way_x" pos="0 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 0 -0.15975" mass="0.05" fullinertia="4.166666667e-9 4.166666667e-9 6.25e-9 0 0 0"/><body name="way_z" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0 -0.15975" mass="0.05" fullinertia="4.166666667e-9 4.166666667e-9 6.25e-9 0 0 0"/><body name="tube" pos="0 0 0"><joint name="j_swing" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.0001026971847 0.000009134731173 -0.007652194617" mass="1" fullinertia="0.001277265 0.001274613966 0.0004260181259 -2.38594009e-7 7.858588435e-7 -6.99007407e-8"/><geom name="tube_h0" type="mesh" mesh="tube_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</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_swing" kv="5" forcerange="-3 3"/></actuator>
</mujoco>
