<mujoco model="417-bent-shaft-rod-and-slide">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0.122"><joint name="j_A" type="hinge" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0.02072373247 0 -0.004747503784" mass="1" fullinertia="0.0001114175141 0.001550079386 0.001457417022 0 0.00006439995759 0"/></body>
<body name="slide" pos="-0.004168 0 0.032"><joint name="j_C" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 0 0.001" mass="0.3" fullinertia="0.0000425 0.0000353 0.000065 0 0 0"/><body name="g1" pos="0 0 0"><joint name="j_g1" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.0195 0" mass="0.02" fullinertia="2.829166667e-7 5.625e-7 2.829166667e-7 0 0 0"/><body name="g2" pos="0 0 0"><joint name="j_g2" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.02" fullinertia="4.666666667e-8 9e-8 4.666666667e-8 0 0 0"/><body name="g3" pos="0 0 0"><joint name="j_g3" type="hinge" axis="0.342 0 -0.9397" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.02" fullinertia="4.666666667e-8 9e-8 4.666666667e-8 0 0 0"/><body name="rodb" pos="0 0 0"><joint name="j_b" type="slide" axis="0.342 0 -0.9397" damping="0.05" frictionloss="0"/><inertial pos="-0.02112488833 0 0.05585033842" mass="0.15" fullinertia="0.0001678629592 0.0001945639744 0.00003127032646 0 0.00006099394273 0"/></body>
</body>
</body>
</body>
</body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_s1" body1="rodb" body2="shaft" anchor="-0.019626 0 0.08316" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_s2" body1="rodb" body2="shaft" anchor="-0.03842 0 0.076319" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rodb" body2="shaft"/><exclude body1="rodb" body2="shaft"/></contact>
<actuator><velocity name="drive" joint="j_A" kv="5" forcerange="-20 20"/></actuator>
</mujoco>
