<mujoco model="405-hyperbola-instrument">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.00005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
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<body name="thread_l057" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l057_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l057_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l057_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l058" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l058_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l058_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l058_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l059" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l059_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l059_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l059_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l060" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l060_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l060_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l060_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l061" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l061_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l061_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l061_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l062" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l062_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l062_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l062_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l063" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l063_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l063_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l063_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l064" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l064_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l064_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l064_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l065" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l065_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l065_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l065_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l066" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l066_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l066_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l066_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l067" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l067_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l067_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l067_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l068" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l068_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l068_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l068_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="thread_l069" pos="0.002705873714 0 0" quat="1 0 0 0"><joint name="thread_l069_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00001666666667" damping="2"/><joint name="thread_l069_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.001352936857 0 0" mass="0.00004248807588" diaginertia="2.124403794e-11 3.654595048e-11 3.654595048e-11"/><geom name="thread_l069_c" type="capsule" fromto="0 0 0 0.002705873714 0 0" size="0.001" contype="2" conaffinity="0" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<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="pencil" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="thread_eyeA" body1="thread_l000" body2="paper" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="thread_eyeB" body1="thread_l069" body2="rule" anchor="0.002705873714 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rd_rad" body2="pencil"/><exclude body1="thread_l000" body2="paper"/><exclude body1="thread_l069" body2="rule"/></contact>
<actuator><velocity name="drive" joint="j_rule" kv="50" forcerange="-10 10"/></actuator>
</mujoco>
