<mujoco model="273-lozenge-of-links-four-rods">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="rod_a" pos="-0.056569 0 0"><joint name="j_a" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.03 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.027010551 0 0" mass="0.0261278407" fullinertia="2.549653275e-7 0.000009269242948 0.000009327878075 0 0 0"/><body name="link_ac" pos="0 0 0"><joint name="j_ac" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0282845 -0.006 0.0282845" mass="0.008673201312" fullinertia="0.000003726753349 0.000007415332591 0.000003726753349 0 -0.000003674520271 0"/></body>
</body>
<body name="rod_b" pos="0.056569 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.03 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.027010551 0 0" mass="0.0261278407" fullinertia="2.549653275e-7 0.000009269242948 0.000009327878075 0 0 0"/><body name="link_bd" pos="0 0 0"><joint name="j_bd" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0282845 -0.006 -0.0282845" mass="0.008673201312" fullinertia="0.000003726753349 0.000007415332591 0.000003726753349 0 -0.000003674520271 0"/></body>
</body>
<body name="rod_c" pos="0 0 0.056569"><joint name="j_c" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.03 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.027010551" mass="0.0261278407" fullinertia="0.000009327878075 0.000009269242948 2.549653275e-7 0 0 0"/><body name="link_cb" pos="0 0 0"><joint name="j_cb" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0282845 0.006 -0.0282845" mass="0.008673201312" fullinertia="0.000003726753349 0.000007415332591 0.000003726753349 0 0.000003674520271 0"/></body>
</body>
<body name="rod_d" pos="0 0 -0.056569"><joint name="j_d" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.03 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.027010551" mass="0.0261278407" fullinertia="0.000009327878075 0.000009269242948 2.549653275e-7 0 0 0"/><body name="link_da" pos="0 0 0"><joint name="j_da" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0282845 0.006 0.0282845" mass="0.008673201312" fullinertia="0.000003726753349 0.000007415332591 0.000003726753349 0 0.000003674520271 0"/></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_c" body1="link_ac" body2="rod_c" anchor="0.056569 0 0.056569" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b" body1="link_cb" body2="rod_b" anchor="0.056569 0 -0.056569" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_d" body1="link_bd" body2="rod_d" anchor="-0.056569 0 -0.056569" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_a" body1="link_da" body2="rod_a" anchor="-0.056569 0 0.056569" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_ac" body2="rod_c"/><exclude body1="link_cb" body2="rod_b"/><exclude body1="link_bd" body2="rod_d"/><exclude body1="link_da" body2="rod_a"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="200" forcerange="-60 60"/></actuator>
</mujoco>
