<mujoco model="341-grasshopper-beam-engine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><body name="Ck" pos="0 0 0"><joint name="j_S" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.01742987675 0.001564173396 0" mass="0.2306356264" fullinertia="0.00002841354152 0.0001007395004 0.0001159829439 0.00001609211921 0 0"/></body>
<body name="Ak" pos="0.254166 0 -0.004166"><joint name="j_G" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="-0.006507228313 0.00971190429 0.1518349802" mass="0.3274676574" fullinertia="0.003307126649 0.003313824688 0.00001428944542 -5.653702306e-7 0.0001413815987 0.0000131919419"/><body name="Bm" pos="-0.0125 0 0.291666"><joint name="j_R" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="-0.2349730356 -0.0002168822762 -0.02506392689" mass="1.851144633" fullinertia="0.0007055150624 0.0381997715 0.03755827849 -0.00006985131286 -0.004140397416 -0.000007606779287"/><body name="Cr" pos="-0.237884 0 -0.021667"><joint name="j_Q" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="0.02536936622 -0.0125 -0.1459174668" mass="0.1864305626" fullinertia="0.001688669326 0.001741938977 0.00005505436689 0 0.0002928750205 0"/></body>
</body>
</body>
<body name="Rb" pos="-0.241029 0 0.298125"><joint name="j_W" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="0.1295350113 -0.022 -0.01708642375" mass="0.07822597901" fullinertia="0.00001172665521 0.0006361001198 0.0006248720493 0 0.00008230956939 0"/></body>
<body name="Px" pos="-0.245052 0 0.233333"><joint name="j_x" type="slide" axis="1 0 0" damping="0.2" frictionloss="0" range="-0.01 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.0395 -0.165" mass="0.01" fullinertia="3.333333333e-9 5e-9 3.333333333e-9 0 0 0"/><body name="P" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="-0.18 0.18" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="1.794182874e-9 -0.04030431173 -0.09050560686" mass="0.1324070633" fullinertia="0.0006785978795 0.0006786188644 0.000002552353708 -1.497667966e-12 -2.150074996e-11 -0.000008336837122"/></body>
</body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_K" body1="Cr" body2="Ck" anchor="0.046218 -0.0125 -0.265833" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_Q" body1="Rb" body2="Bm" anchor="0.244811 -0.022 -0.032292" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_P" body1="P" body2="Bm" anchor="0 -0.034 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="Cr" body2="Ck"/><exclude body1="Rb" body2="Bm"/><exclude body1="P" body2="Bm"/></contact>
<actuator><velocity name="drive" joint="j_S" kv="100" forcerange="-100 100"/></actuator>
</mujoco>
