<mujoco model="356-bohnenberger-machine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicit" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="ring_a" pos="0 0 0"><joint name="j_t" type="hinge" axis="0 0 1" damping="0.16" frictionloss="0" stiffness="0.5" springref="0"/><inertial pos="0 0 -0.0899506347" mass="0.5559563422" fullinertia="0.00500269403 0.00628777104 0.001546890888 0 0 0"/><body name="ring_a1" pos="0 0 0"><joint name="j_1" type="hinge" axis="1 0 0" damping="0" frictionloss="0.04"/><inertial pos="0 0 0" mass="0.1329977542" fullinertia="0.0004765857743 0.001003434429 0.0005276299098 0 0 0"/><body name="ring_a2" pos="0 0 0"><joint name="j_2" type="hinge" axis="0 0 1" damping="0" frictionloss="0.04"/><inertial pos="0 0 0" mass="0.09605300758" fullinertia="0.0004229660705 0.0002254712525 0.0001979171888 0 0 0"/><body name="ball" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="-0.000008288617771 -0.0002497636822 0" mass="3.033260597" fullinertia="0.002547607167 0.002420131854 0.002539614743 -0.00000113011806 0 0"/></body>
</body>
</body>
</body>
<body name="base" pos="0 0 -0.184"></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_s" kv="1" forcerange="-20 20"/></actuator>
</mujoco>
