<mujoco model="408-centrolinead">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
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<worldbody>
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality><connect name="p_read" body1="rd_rad" body2="inst" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rd_rad" body2="inst"/></contact>
<actuator><velocity name="drive" joint="j_r" kv="2" forcerange="-2 2"/></actuator>
</mujoco>
