<mujoco model="322-triangle-parallel-ruler">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="B_h0" vertex="0 -0.003 0 0 0.003 0 0.24 -0.003 0 0.24 0.003 0 0.24 -0.003 0.08 0.24 0.003 0.08"/><mesh name="A_h0" vertex="-0.08 -0.003 -0.053334 -0.08 0.003 -0.053334 -0.08 -0.003 0.026666 -0.08 0.003 0.026666 0.16 -0.003 0.026666 0.16 0.003 0.026666"/></asset>
<size memory="64M"/>
<worldbody>
<body name="B" pos="0 0 0"><geom name="B_h0" type="mesh" mesh="B_h0" contype="8" conaffinity="16" condim="3" friction="0.08 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="Ax" pos="0.079991 0 0.053362"><joint name="j_x" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.00325 0" mass="0.02" fullinertia="5.416666667e-9 1e-8 5.416666667e-9 0 0 0"/><body name="An" pos="0 0 0"><joint name="j_n" type="slide" axis="0.316228 0 -0.948683" damping="0.5" frictionloss="0" range="-0.06 0.024" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0.03"/><inertial pos="0 -0.00325 0" mass="0.02" fullinertia="5.416666667e-9 1e-8 5.416666667e-9 0 0 0"/><body name="A" pos="0 0 0"><joint name="j_rot" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.000006858766773 -6.653602349e-7" mass="0.04039916813" fullinertia="0.00001445864702 0.000143361425 0.000129146647 0 -0.000021504 0"/><geom name="A_h0" type="mesh" mesh="A_h0" contype="16" conaffinity="8" condim="3" friction="0.08 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_x" kv="50" forcerange="-20 20"/></actuator>
</mujoco>
