<mujoco model="367-parallel-ruler">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="lower_blade" pos="0 0 0"></body>
<body name="link_a" pos="-0.09 0 -0.012"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.02 -0.00475 0.034641" mass="0.05" fullinertia="0.00002728514184 0.00003668886503 0.000009422473192 0 -0.00001546952889 0"/><body name="upper_blade" pos="0.04 0 0.069282"><joint name="j_u" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.04052701907 0.0009004469178 -0.00003712071929" mass="0.15" fullinertia="0.000007375131281 0.001122590109 0.001115768444 3.991638373e-7 1.710258862e-8 -1.146793031e-8"/></body>
</body>
<body name="link_b" pos="0.05 0 -0.012"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.02 -0.00475 0.034641" mass="0.05" fullinertia="0.00002728514184 0.00003668886503 0.000009422473192 0 -0.00001546952889 0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_b" body1="upper_blade" body2="link_b" anchor="0.14 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="upper_blade" body2="link_b"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
