<mujoco model="117-cam-two-rollers-yoke">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="cam_h0" vertex="0.003908 -0.004 0.035848 0.003908 0.004 0.035848 0.005431 -0.004 0.036627 0.005431 0.004 0.036627 0.00701 -0.004 0.037326 0.00701 0.004 0.037326 0.008641 -0.004 0.037938 0.008641 0.004 0.037938 0.01032 -0.004 0.038454 0.01032 0.004 0.038454 0.012039 -0.004 0.038867 0.012039 0.004 0.038867 0.013792 -0.004 0.039172 0.013792 0.004 0.039172 0.015572 -0.004 0.039362 0.015572 0.004 0.039362 0.017369 -0.004 0.039434 0.017369 0.004 0.039434 0.019177 -0.004 0.039383 0.019177 0.004 0.039383 0.020986 -0.004 0.039208 0.020986 0.004 0.039208 0.022788 -0.004 0.038907 0.022788 0.004 0.038907 0.024575 -0.004 0.038478 0.024575 0.004 0.038478 0.026338 -0.004 0.037923 0.026338 0.004 0.037923 0.028071 -0.004 0.037242 0.028071 0.004 0.037242 0.029764 -0.004 0.036437 0.029764 0.004 0.036437 0.031411 -0.004 0.035511 0.031411 0.004 0.035511 0.033005 -0.004 0.034468 0.033005 0.004 0.034468 0.03454 -0.004 0.033311 0.03454 0.004 0.033311 0.036009 -0.004 0.032046 0.036009 0.004 0.032046 0.037408 -0.004 0.030677 0.037408 0.004 0.030677 0.038732 -0.004 0.029211 0.038732 0.004 0.029211 0.039977 -0.004 0.027653 0.039977 0.004 0.027653 0.041139 -0.004 0.026011 0.041139 0.004 0.026011 0.042217 -0.004 0.024291 0.042217 0.004 0.024291 0.043208 -0.004 0.022501 0.043208 0.004 0.022501 0.044112 -0.004 0.020646 0.044112 0.004 0.020646 0.044927 -0.004 0.018734 0.044927 0.004 0.018734 0.045653 -0.004 0.016773 0.045653 0.004 0.016773 0.046291 -0.004 0.014767 0.046291 0.004 0.014767 0.046842 -0.004 0.012724 0.046842 0.004 0.012724 0.047305 -0.004 0.01065 0.047305 0.004 0.01065 0.047683 -0.004 0.00855 0.047683 0.004 0.00855 0.047975 -0.004 0.00643 0.047975 0.004 0.00643 0.048184 -0.004 0.004295 0.048184 0.004 0.004295 0.048308 -0.004 0.00215 0.048308 0.004 0.00215 0.04835 -0.004 0 0.04835 0.004 0 0.048308 -0.004 -0.00215 0.048308 0.004 -0.00215 0.048184 -0.004 -0.004295 0.048184 0.004 -0.004295 0.047975 -0.004 -0.00643 0.047975 0.004 -0.00643 0.047683 -0.004 -0.00855 0.047683 0.004 -0.00855 0.047305 -0.004 -0.01065 0.047305 0.004 -0.01065 0.046842 -0.004 -0.012724 0.046842 0.004 -0.012724 0.046291 -0.004 -0.014767 0.046291 0.004 -0.014767 0.045653 -0.004 -0.016773 0.045653 0.004 -0.016773 0.044927 -0.004 -0.018734 0.044927 0.004 -0.018734 0.044112 -0.004 -0.020646 0.044112 0.004 -0.020646 0.043208 -0.004 -0.022501 0.043208 0.004 -0.022501 0.042217 -0.004 -0.024291 0.042217 0.004 -0.024291 0.041139 -0.004 -0.026011 0.041139 0.004 -0.026011 0.039977 -0.004 -0.027653 0.039977 0.004 -0.027653 0.038732 -0.004 -0.029211 0.038732 0.004 -0.029211 0.037408 -0.004 -0.030677 0.037408 0.004 -0.030677 0.036009 -0.004 -0.032046 0.036009 0.004 -0.032046 0.03454 -0.004 -0.033311 0.03454 0.004 -0.033311 0.033005 -0.004 -0.034468 0.033005 0.004 -0.034468 0.031411 -0.004 -0.035511 0.031411 0.004 -0.035511 0.029764 -0.004 -0.036437 0.029764 0.004 -0.036437 0.028071 -0.004 -0.037242 0.028071 0.004 -0.037242 0.026338 -0.004 -0.037923 0.026338 0.004 -0.037923 0.024575 -0.004 -0.038478 0.024575 0.004 -0.038478 0.022788 -0.004 -0.038907 0.022788 0.004 -0.038907 0.020986 -0.004 -0.039208 0.020986 0.004 -0.039208 0.019177 -0.004 -0.039383 0.019177 0.004 -0.039383 0.017369 -0.004 -0.039434 0.017369 0.004 -0.039434 0.015572 -0.004 -0.039362 0.015572 0.004 -0.039362 0.013792 -0.004 -0.039172 0.013792 0.004 -0.039172 0.012039 -0.004 -0.038867 0.012039 0.004 -0.038867 0.01032 -0.004 -0.038454 0.01032 0.004 -0.038454 0.008641 -0.004 -0.037938 0.008641 0.004 -0.037938 0.00701 -0.004 -0.037326 0.00701 0.004 -0.037326 0.005431 -0.004 -0.036627 0.005431 0.004 -0.036627 0.003908 -0.004 -0.035848 0.003908 0.004 -0.035848 0.002447 -0.004 -0.034999 0.002447 0.004 -0.034999 0.001048 -0.004 -0.034087 0.001048 0.004 -0.034087 -0.000287 -0.004 -0.033122 -0.000287 0.004 -0.033122 -0.001559 -0.004 -0.032111 -0.001559 0.004 -0.032111 -0.002767 -0.004 -0.031064 -0.002767 0.004 -0.031064 -0.003915 -0.004 -0.029988 -0.003915 0.004 -0.029988 -0.005004 -0.004 -0.028889 -0.005004 0.004 -0.028889 -0.00604 -0.004 -0.027774 -0.00604 0.004 -0.027774 -0.007026 -0.004 -0.026649 -0.007026 0.004 -0.026649 -0.007967 -0.004 -0.025517 -0.007967 0.004 -0.025517 -0.008868 -0.004 -0.024384 -0.008868 0.004 -0.024384 -0.009733 -0.004 -0.023251 -0.009733 0.004 -0.023251 -0.010567 -0.004 -0.022124 -0.010567 0.004 -0.022124 -0.011374 -0.004 -0.021003 -0.011374 0.004 -0.021003 -0.012156 -0.004 -0.019892 -0.012156 0.004 -0.019892 -0.012916 -0.004 -0.018794 -0.012916 0.004 -0.018794 -0.013654 -0.004 -0.017709 -0.013654 0.004 -0.017709 -0.014371 -0.004 -0.016641 -0.014371 0.004 -0.016641 -0.015064 -0.004 -0.01559 -0.015064 0.004 -0.01559 -0.015733 -0.004 -0.014558 -0.015733 0.004 -0.014558 -0.016375 -0.004 -0.013545 -0.016375 0.004 -0.013545 -0.016988 -0.004 -0.012551 -0.016988 0.004 -0.012551 -0.017567 -0.004 -0.011576 -0.017567 0.004 -0.011576 -0.018112 -0.004 -0.010618 -0.018112 0.004 -0.010618 -0.018619 -0.004 -0.009678 -0.018619 0.004 -0.009678 -0.019087 -0.004 -0.008752 -0.019087 0.004 -0.008752 -0.019513 -0.004 -0.007839 -0.019513 0.004 -0.007839 -0.019897 -0.004 -0.006938 -0.019897 0.004 -0.006938 -0.020236 -0.004 -0.006048 -0.020236 0.004 -0.006048 -0.020532 -0.004 -0.005167 -0.020532 0.004 -0.005167 -0.020782 -0.004 -0.004294 -0.020782 0.004 -0.004294 -0.020986 -0.004 -0.003427 -0.020986 0.004 -0.003427 -0.021145 -0.004 -0.002566 -0.021145 0.004 -0.002566 -0.021259 -0.004 -0.001708 -0.021259 0.004 -0.001708 -0.021327 -0.004 -0.000853 -0.021327 0.004 -0.000853 -0.02135 -0.004 0 -0.02135 0.004 0 -0.021327 -0.004 0.000853 -0.021327 0.004 0.000853 -0.021259 -0.004 0.001708 -0.021259 0.004 0.001708 -0.021145 -0.004 0.002566 -0.021145 0.004 0.002566 -0.020986 -0.004 0.003427 -0.020986 0.004 0.003427 -0.020782 -0.004 0.004294 -0.020782 0.004 0.004294 -0.020532 -0.004 0.005167 -0.020532 0.004 0.005167 -0.020236 -0.004 0.006048 -0.020236 0.004 0.006048 -0.019897 -0.004 0.006938 -0.019897 0.004 0.006938 -0.019513 -0.004 0.007839 -0.019513 0.004 0.007839 -0.019087 -0.004 0.008752 -0.019087 0.004 0.008752 -0.018619 -0.004 0.009678 -0.018619 0.004 0.009678 -0.018112 -0.004 0.010618 -0.018112 0.004 0.010618 -0.017567 -0.004 0.011576 -0.017567 0.004 0.011576 -0.016988 -0.004 0.012551 -0.016988 0.004 0.012551 -0.016375 -0.004 0.013545 -0.016375 0.004 0.013545 -0.015733 -0.004 0.014558 -0.015733 0.004 0.014558 -0.015064 -0.004 0.01559 -0.015064 0.004 0.01559 -0.014371 -0.004 0.016641 -0.014371 0.004 0.016641 -0.013654 -0.004 0.017709 -0.013654 0.004 0.017709 -0.012916 -0.004 0.018794 -0.012916 0.004 0.018794 -0.012156 -0.004 0.019892 -0.012156 0.004 0.019892 -0.011374 -0.004 0.021003 -0.011374 0.004 0.021003 -0.010567 -0.004 0.022124 -0.010567 0.004 0.022124 -0.009733 -0.004 0.023251 -0.009733 0.004 0.023251 -0.008868 -0.004 0.024384 -0.008868 0.004 0.024384 -0.007967 -0.004 0.025517 -0.007967 0.004 0.025517 -0.007026 -0.004 0.026649 -0.007026 0.004 0.026649 -0.00604 -0.004 0.027774 -0.00604 0.004 0.027774 -0.005004 -0.004 0.028889 -0.005004 0.004 0.028889 -0.003915 -0.004 0.029988 -0.003915 0.004 0.029988 -0.002767 -0.004 0.031064 -0.002767 0.004 0.031064 -0.001559 -0.004 0.032111 -0.001559 0.004 0.032111 -0.000287 -0.004 0.033122 -0.000287 0.004 0.033122 0.001048 -0.004 0.034087 0.001048 0.004 0.034087 0.002447 -0.004 0.034999 0.002447 0.004 0.034999"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cam" pos="0 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.01279235681 0.001699394483 0" mass="1.992849167" fullinertia="0.0007229598922 0.001178483809 0.0006386663187 0.00004332306735 0 0"/><geom name="cam_h0" type="mesh" mesh="cam_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="yoke" pos="0 0 0"><joint name="j_y" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.016866 0.016866" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.00007506713817 -0.03215841012" mass="0.3" fullinertia="0.002232210163 0.00259389666 0.0003694286852 0 0 -7.242119447e-7"/><body name="roller_a" pos="0 0 0.043"><joint name="j_ra" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" fullinertia="0.000006533333333 0.0000128 0.000006533333333 0 0 0"/><geom name="roller_a_h0" type="capsule" fromto="0 -0.001 0 0 0.001 0" size="0.008" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="roller_b" pos="0 0 -0.043"><joint name="j_rb" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" fullinertia="0.000006533333333 0.0000128 0.000006533333333 0 0 0"/><geom name="roller_b_h0" type="capsule" fromto="0 -0.001 0 0 0.001 0" size="0.008" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></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></equality>

<actuator><velocity name="drive" joint="j_c" kv="4" forcerange="-4 4"/></actuator>
</mujoco>
