<mujoco model="140-toggle-punch">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="lever" pos="0.078 0 -0.12"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.05243156229 -0.0135 0.005969873618" mass="0.3063102574" fullinertia="0.00003411874486 0.001316408004 0.001285335085 0 0.000002947176767 0"/><body name="hlink" pos="-0.018469 0 0.029033"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="-0.05202310395 -0.0055 -0.007060495768" mass="0.08664844512" fullinertia="0.000003751690046 0.000124682424 0.0001216383629 0 -0.00001629962486 0"/></body>
</body>
<body name="link1" pos="0 0 0"><joint name="j_1" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="-0.02225801198 0.0025 -0.05254459168" mass="0.09212884516" fullinertia="0.0001292269343 0.0001529896799 0.00002451513119 0 -0.00005405559197 0"/><body name="link2" pos="-0.044515 0 -0.105088"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0.02625757914 0.0105 -0.05058700471" mass="0.0920489048" fullinertia="0.0001198276494 0.0001525411314 0.00003346521479 0 0.0000613591186 0"/></body>
</body>
<body name="punch" pos="0.008 0 -0.206261"><joint name="j_p" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0.0105 -0.04214686825" mass="0.2600208" fullinertia="0.0001403217109 0.0001595267929 0.0000275675868 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_k" body1="hlink" body2="link1" anchor="-0.104046 0 -0.014121" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_s" body1="link2" body2="punch" anchor="0.052515 0 -0.101173" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="hlink" body2="link1"/><exclude body1="link2" body2="punch"/></contact>
<actuator><velocity name="drive" joint="j_l" kv="40" forcerange="-40 40"/></actuator>
</mujoco>
