<mujoco model="130-shears-cam">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="frame_h0" vertex="-0.225 -0.01 0 -0.225 0.01 0 -0.195 -0.01 0 -0.195 0.01 0 -0.195 -0.01 0.0817 -0.195 0.01 0.0817 -0.225 -0.01 0.0817 -0.225 0.01 0.0817"/><mesh name="arm_h0" vertex="-0.23 -0.01 -0.018 -0.23 0.01 -0.018 -0.23 -0.01 -0.005 -0.23 0.01 -0.005 -0.02 -0.01 0.025 -0.02 0.01 0.025 -0.02 -0.01 -0.018 -0.02 0.01 -0.018"/><mesh name="cam_h0" vertex="0.035 -0.014 -0.0135 0.035 0.014 -0.0135 0.034831 -0.014 -0.010069 0.034831 0.014 -0.010069 0.034327 -0.014 -0.006672 0.034327 0.014 -0.006672 0.033493 -0.014 -0.00334 0.033493 0.014 -0.00334 0.032336 -0.014 -0.000106 0.032336 0.014 -0.000106 0.030867 -0.014 0.002999 0.030867 0.014 0.002999 0.029101 -0.014 0.005945 0.029101 0.014 0.005945 0.027055 -0.014 0.008704 0.027055 0.014 0.008704 0.024749 -0.014 0.011249 0.024749 0.014 0.011249 0.022204 -0.014 0.013555 0.022204 0.014 0.013555 0.019445 -0.014 0.015601 0.019445 0.014 0.015601 0.016499 -0.014 0.017367 0.016499 0.014 0.017367 0.013394 -0.014 0.018836 0.013394 0.014 0.018836 0.01016 -0.014 0.019993 0.01016 0.014 0.019993 0.006828 -0.014 0.020827 0.006828 0.014 0.020827 0.003431 -0.014 0.021331 0.003431 0.014 0.021331 0 -0.014 0.0215 0 0.014 0.0215 -0.003431 -0.014 0.021331 -0.003431 0.014 0.021331 -0.006828 -0.014 0.020827 -0.006828 0.014 0.020827 -0.01016 -0.014 0.019993 -0.01016 0.014 0.019993 -0.013394 -0.014 0.018836 -0.013394 0.014 0.018836 -0.016499 -0.014 0.017367 -0.016499 0.014 0.017367 -0.019445 -0.014 0.015601 -0.019445 0.014 0.015601 -0.022204 -0.014 0.013555 -0.022204 0.014 0.013555 -0.024749 -0.014 0.011249 -0.024749 0.014 0.011249 -0.027055 -0.014 0.008704 -0.027055 0.014 0.008704 -0.029101 -0.014 0.005945 -0.029101 0.014 0.005945 -0.030867 -0.014 0.002999 -0.030867 0.014 0.002999 -0.032336 -0.014 -0.000106 -0.032336 0.014 -0.000106 -0.033493 -0.014 -0.00334 -0.033493 0.014 -0.00334 -0.034327 -0.014 -0.006672 -0.034327 0.014 -0.006672 -0.034831 -0.014 -0.010069 -0.034831 0.014 -0.010069 -0.035 -0.014 -0.0135 -0.035 0.014 -0.0135 -0.034831 -0.014 -0.016931 -0.034831 0.014 -0.016931 -0.034327 -0.014 -0.020328 -0.034327 0.014 -0.020328 -0.033493 -0.014 -0.02366 -0.033493 0.014 -0.02366 -0.032336 -0.014 -0.026894 -0.032336 0.014 -0.026894 -0.030867 -0.014 -0.029999 -0.030867 0.014 -0.029999 -0.029101 -0.014 -0.032945 -0.029101 0.014 -0.032945 -0.027055 -0.014 -0.035704 -0.027055 0.014 -0.035704 -0.024749 -0.014 -0.038249 -0.024749 0.014 -0.038249 -0.022204 -0.014 -0.040555 -0.022204 0.014 -0.040555 -0.019445 -0.014 -0.042601 -0.019445 0.014 -0.042601 -0.016499 -0.014 -0.044367 -0.016499 0.014 -0.044367 -0.013394 -0.014 -0.045836 -0.013394 0.014 -0.045836 -0.01016 -0.014 -0.046993 -0.01016 0.014 -0.046993 -0.006828 -0.014 -0.047827 -0.006828 0.014 -0.047827 -0.003431 -0.014 -0.048331 -0.003431 0.014 -0.048331 0 -0.014 -0.0485 0 0.014 -0.0485 0.003431 -0.014 -0.048331 0.003431 0.014 -0.048331 0.006828 -0.014 -0.047827 0.006828 0.014 -0.047827 0.01016 -0.014 -0.046993 0.01016 0.014 -0.046993 0.013394 -0.014 -0.045836 0.013394 0.014 -0.045836 0.016499 -0.014 -0.044367 0.016499 0.014 -0.044367 0.019445 -0.014 -0.042601 0.019445 0.014 -0.042601 0.022204 -0.014 -0.040555 0.022204 0.014 -0.040555 0.024749 -0.014 -0.038249 0.024749 0.014 -0.038249 0.027055 -0.014 -0.035704 0.027055 0.014 -0.035704 0.029101 -0.014 -0.032945 0.029101 0.014 -0.032945 0.030867 -0.014 -0.029999 0.030867 0.014 -0.029999 0.032336 -0.014 -0.026894 0.032336 0.014 -0.026894 0.033493 -0.014 -0.02366 0.033493 0.014 -0.02366 0.034327 -0.014 -0.020328 0.034327 0.014 -0.020328 0.034831 -0.014 -0.016931 0.034831 0.014 -0.016931"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="arm" pos="0 0 0.1"><joint name="j_arm" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="-0.0367372267 0.00005317677359 0.001620554511" mass="1.2" fullinertia="0.0002269693893 0.009163894462 0.009019811103 -0.000002344280624 -0.0005254382193 1.034110324e-7"/><geom name="arm_h0" type="mesh" mesh="arm_h0" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="cam" pos="-0.16 0 0.0605"><joint name="j_cam" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.0001656033932 -0.01312739237" mass="1" fullinertia="0.0003721437905 0.0005998050128 0.0003672524239 0 0 -0.000002173940719"/><geom name="cam_h0" type="mesh" mesh="cam_h0" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="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_cam" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
