<mujoco model="407-pointed-arch-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="cord_l021" pos="0.00780928 0 0" quat="1 0 0 0"><joint name="cord_l021_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00002666666667" damping="2"/><joint name="cord_l021_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.00390464 0 0" mass="0.0001226678834" diaginertia="6.133394169e-11 6.540738853e-10 6.540738853e-10"/><geom name="cord_l021_c" type="capsule" fromto="0 0 0 0.00780928 0 0" size="0.001" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="cord_l022" pos="0.00780928 0 0" quat="1 0 0 0"><joint name="cord_l022_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00002666666667" damping="2"/><joint name="cord_l022_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.00390464 0 0" mass="0.0001226678834" diaginertia="6.133394169e-11 6.540738853e-10 6.540738853e-10"/><geom name="cord_l022_c" type="capsule" fromto="0 0 0 0.00780928 0 0" size="0.001" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="cord_l023" pos="0.00780928 0 0" quat="1 0 0 0"><joint name="cord_l023_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00002666666667" damping="2"/><joint name="cord_l023_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.00390464 0 0" mass="0.0001226678834" diaginertia="6.133394169e-11 6.540738853e-10 6.540738853e-10"/><geom name="cord_l023_c" type="capsule" fromto="0 0 0 0.00780928 0 0" size="0.001" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="cord_l024" pos="0.00780928 0 0" quat="1 0 0 0"><joint name="cord_l024_s" type="slide" axis="1 0 0" stiffness="60000" springref="-0.00002666666667" damping="2"/><joint name="cord_l024_h" type="hinge" axis="0 1 0" damping="0.000001" armature="0.000001"/><inertial pos="0.00390464 0 0" mass="0.0001226678834" diaginertia="6.133394169e-11 6.540738853e-10 6.540738853e-10"/><geom name="cord_l024_c" type="capsule" fromto="0 0 0 0.00780928 0 0" size="0.001" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="cord_eyeA" body1="cord_l000" body2="slide" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord_eyeB" body1="cord_l024" body2="arch14" anchor="0.00780928 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="cord_l000" body2="slide"/><exclude body1="cord_l024" body2="arch14"/></contact>
<actuator><velocity name="drive" joint="j_x" kv="800" forcerange="-30 30"/></actuator>
</mujoco>
