<mujoco model="409-proportional-compasses">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="leg_a" pos="0 0 0"></body>
<body name="leg_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.005325460708 -0.002859843569 -0.009224161785" mass="0.1290333281" fullinertia="0.0003508534518 0.000469106912 0.0001188841491 2.040203588e-7 -0.0002008909521 3.533847983e-7"/></body>
<body name="car_h" pos="-0.0665 0 -0.115181"><joint name="j_h" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.02975 0" mass="0.05" fullinertia="4.166666667e-9 6.25e-9 4.166666667e-9 0 0 0"/><body name="car_hz" pos="0 0 0"><joint name="j_hz" type="slide" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 -0.02975 0" mass="0.05" fullinertia="4.166666667e-9 6.25e-9 4.166666667e-9 0 0 0"/></body>
</body>
<body name="rdl_arm" pos="0.0665 0 -0.115181"><joint name="j_vl" type="hinge" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="0 -0.02975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="rdl_rad" pos="-0.133 0 0"><joint name="j_dl" type="slide" axis="-1 0 0" damping="0" frictionloss="0"/><inertial pos="0 -0.02975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/></body>
</body>
<body name="rds_arm" pos="-0.0535 0 0.092665"><joint name="j_vs" type="hinge" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="0 -0.02975 0" mass="0.002" fullinertia="1.666666667e-10 2.5e-10 1.666666667e-10 0 0 0"/><body name="rds_rad" pos="0.107 0 0"><joint name="j_ds" type="slide" axis="1 0 0" damping="0" frictionloss="0"/><inertial pos="0 -0.02975 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="pin_h" body1="car_hz" body2="leg_b" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rdl" body1="rdl_rad" body2="leg_b" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rds" body1="rds_rad" body2="leg_b" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="car_hz" body2="leg_b"/><exclude body1="rdl_rad" body2="leg_b"/><exclude body1="rds_rad" body2="leg_b"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="100" forcerange="-20 20"/></actuator>
</mujoco>
