<mujoco model="132-press-oblique-bars">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="disk" pos="0 0 0.3"><joint name="j_d" type="hinge" axis="0 0 1" damping="0.02" frictionloss="0"/><inertial pos="0.005541438887 0 0.02214831079" mass="1.4" fullinertia="0.003492938047 0.004345446837 0.007174891032 -0.00001240745578 -0.000197748842 0"/></body>
<body name="platen" pos="0 0 0.197657"><joint name="j_p" type="slide" axis="0 0 1" damping="1" frictionloss="0" range="-0.12 0.08" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.05579250247" mass="3" fullinertia="0.009830580198 0.06617996051 0.07250941393 0 0 0"/><body name="sw_1" pos="0.06 0 0"><joint name="j_s1" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.0005" mass="0.15" fullinertia="0.00001352452157 0.00001352452157 0.00002402404315 0 0 0"/><body name="bar_1" pos="0 0 0"><joint name="j_t1" type="hinge" axis="0.6052 -0.7961 0" damping="0.01" frictionloss="0"/><inertial pos="-0.038025 -0.0289065 0.0511715" mass="0.4" fullinertia="0.0004710379119 0.0005514043435 0.0003166267524 -0.0001447389635 0.0002562229904 0.0001947800098"/></body>
</body>
<body name="sw_2" pos="-0.06 0 0"><joint name="j_s2" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.0005" mass="0.15" fullinertia="0.00001352452157 0.00001352452157 0.00002402404315 0 0 0"/><body name="bar_2" pos="0 0 0"><joint name="j_t2" type="hinge" axis="-0.6052 0.7961 0" damping="0.01" frictionloss="0"/><inertial pos="0.038025 0.0289065 0.0511715" mass="0.4" fullinertia="0.0004710379119 0.0005514043435 0.0003166267524 -0.0001447389635 -0.0002562229904 -0.0001947800098"/></body>
</body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_1" body1="bar_1" body2="disk" anchor="-0.07605 -0.057813 0.102343" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_2" body1="bar_2" body2="disk" anchor="0.07605 0.057813 0.102343" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="bar_1" body2="disk"/><exclude body1="bar_2" body2="disk"/></contact>
<actuator><velocity name="drive" joint="j_d" kv="200" forcerange="-80 80"/></actuator>
</mujoco>
