<mujoco model="403-cyclograph-three-rules">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="frame_h0" vertex="-0.207514 0 -0.124509 -0.207514 0.0045 -0.124509 0.038073 0 0.022844 0.038073 0.0045 0.022844 0.030355 0 0.035706 0.030355 0.0045 0.035706 -0.215232 0 -0.111646 -0.215232 0.0045 -0.111646"/><mesh name="frame_h1" vertex="0.207514 -0.0045 -0.124509 0.207514 0 -0.124509 -0.038073 -0.0045 0.022844 -0.038073 0 0.022844 -0.030355 -0.0045 0.035706 -0.030355 0 0.035706 0.215232 -0.0045 -0.111646 0.215232 0 -0.111646"/></asset>
<size memory="64M"/>
<worldbody>
<body name="paper" pos="0 0 0"><geom name="paper_h0" type="capsule" fromto="-0.15 -0.008 0 -0.15 0.006 0" size="0.001" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="paper_h1" type="capsule" fromto="0.15 -0.008 0 0.15 0.006 0" size="0.001" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="fx" pos="0 0 0.091166"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="fz" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.03 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="2" springref="-0.3"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="frame" pos="0 0 0"><joint name="j_f" type="hinge" axis="0 -1 0" damping="0.1" frictionloss="0"/><inertial pos="0 -0.002367280484 -0.06806418134" mass="0.04173725625" fullinertia="0.00009520651695 0.0006215839914 0.0005276673079 0.000005394353145 0 -0.000004338561167"/><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
</body>
</body>
<body name="rd_arm" pos="0 0 -0.08"><joint name="j_rd" type="hinge" axis="0 -1 0" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="rd_rad" pos="0 0 0.171166"><joint name="j_r" type="slide" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0 -0.01975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_read" body1="rd_rad" body2="frame" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rd_rad" body2="frame"/></contact>
<actuator><velocity name="drive" joint="j_x" kv="200" forcerange="-20 20"/></actuator>
</mujoco>
