<mujoco model="365-oblique-rollers-rod">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="lower" pos="0 0 -0.04"><joint name="j_r" type="hinge" axis="0.9553 0.2955 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="3.754478131" fullinertia="0.002287590911 0.008861504149 0.009557139695 -0.002248767783 0 0"/><geom name="lower_h0" type="capsule" fromto="-0.076427 -0.023642 0 0.076427 0.023642 0" size="0.03" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="upper_guide" pos="0 0 0.04"><joint name="j_uz" type="slide" axis="0 0 1" damping="2" frictionloss="0" range="-0.01 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.006" mass="0.05645821405" fullinertia="0.00002717131391 0.0002815471692 0.0003084644211 0.00008701515637 0 0"/><body name="upper" pos="0 0 0"><joint name="j_u" type="hinge" axis="0.9553 -0.2955 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="3.754478131" fullinertia="0.002287590911 0.008861504149 0.009557139695 0.002248767783 0 0"/><geom name="upper_h0" type="capsule" fromto="-0.076427 0.023642 0 0.076427 -0.023642 0" size="0.03" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="rod_x" pos="-0.12 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.01" frictionloss="0" range="-0.1 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.2205 0 0" mass="0.00001256637061" fullinertia="2.513274123e-11 1.361356817e-11 1.361356817e-11 0 0 0"/><body name="rod_z" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.01 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.2205 0 0" mass="0.00001256637061" fullinertia="2.513274123e-11 1.361356817e-11 1.361356817e-11 0 0 0"/><body name="rod" pos="0 0 0"><joint name="j_t" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0002714932127 0 0" mass="1.083095483" fullinertia="0.00005527656621 0.01744075791 0.01743940639 0 0 0"/><geom name="rod_h0" type="capsule" fromto="-0.22 0 0 0.22 0 0" size="0.01" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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></equality>

<actuator><velocity name="drive" joint="j_r" kv="2" forcerange="-10 10"/></actuator>
</mujoco>
