<mujoco model="144-lazy-tongs">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="rod_r" pos="0.044995 0 0"><joint name="j_r" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.0741509434 0.005226415094 0" mass="0.1" fullinertia="0.000002381508841 0.0003206571556 0.0003209226267 0.000005386436454 0 0"/></body>
<body name="rod_l" pos="-0.179981 0 0"><joint name="j_l" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="-0.0741509434 0.005226415094 0" mass="0.1" fullinertia="0.000002381508841 0.0003206571556 0.0003209226267 -0.000005386436454 0 0"/></body>
<body name="u4" pos="0 0 0"><joint name="j_u4" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.0035 0" mass="0.1" fullinertia="0.00003554009607 0.00006023920453 0.00002551577513 0 -0.00002842586542 0"/><body name="d5" pos="0.022498 0 0.026812"><joint name="j_d5" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.01348663621 0.0125 -0.01607366013" mass="0.1" fullinertia="0.00001406775345 0.00002369813489 0.00001044704811 0 0.00001026536351 0"/><body name="u5" pos="0.022497 0 -0.026812"><joint name="j_u5" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.009010363786 0.0035 -0.01073833987" mass="0.1" fullinertia="0.00001406775345 0.00002369813489 0.00001044704811 0 -0.00001026536351 0"/></body>
</body>
</body>
<body name="d4" pos="0 0 0"><joint name="j_d4" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.0125 0" mass="0.1" fullinertia="0.00003554009607 0.00006023920453 0.00002551577513 0 0.00002842586542 0"/><body name="u3" pos="-0.022498 0 0.026812"><joint name="j_u3" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.02249714182 0.0035 -0.026812" mass="0.1" fullinertia="0.00003554009607 0.00006023856641 0.000025515137 0 -0.00002842548517 0"/><body name="d3" pos="-0.022497 0 -0.026812"><joint name="j_d3" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-1.418208146e-7 0.0125 0" mass="0.1" fullinertia="0.00003554009607 0.00006023856641 0.000025515137 0 0.00002842548517 0"/><body name="u2" pos="-0.022498 0 0.026812"><joint name="j_u2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.02249711705 0.0035 -0.02681180615" mass="0.1" fullinertia="0.00003554030575 0.00006023910488 0.00002551546579 0 -0.000028425798 0"/><body name="d2" pos="-0.022497 0 -0.026812"><joint name="j_d2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-1.17053784e-7 0.0125 -1.938531147e-7" mass="0.1" fullinertia="0.00003554030575 0.00006023910488 0.00002551546579 0 0.000028425798 0"/><body name="u1" pos="-0.022498 0 0.026812"><joint name="j_u1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.02249742909 0.0035 -0.026812" mass="0.1" fullinertia="0.00003554057256 0.0000602393105 0.00002551540461 0 -0.00002842590016 0"/><body name="d1" pos="-0.022497 0 -0.026812"><joint name="j_d1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-4.290864716e-7 0.0125 0" mass="0.1" fullinertia="0.00003554057256 0.0000602393105 0.00002551540461 0 0.00002842590016 0"/><body name="u0" pos="-0.022498 0 0.026812"><joint name="j_u0" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.01348736093 0.0035 -0.01607379017" mass="0.1" fullinertia="0.00001406768407 0.0000236986364 0.000010447619 0 -0.00001026567459 0"/><body name="d0" pos="-0.022498 0 -0.026812"><joint name="j_d0" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.009010639071 0.0125 -0.01073820983" mass="0.1" fullinertia="0.00001406768407 0.0000236986364 0.000010447619 0 0.00001026567459 0"/></body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_b1" body1="d0" body2="u1" anchor="0.022498 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b2" body1="d1" body2="u2" anchor="0.022497 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b3" body1="d2" body2="u3" anchor="0.022497 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b4" body1="d3" body2="u4" anchor="0.022497 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b5" body1="d4" body2="u5" anchor="0.022498 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_r" body1="d5" body2="rod_r" anchor="0.022497 0 -0.026812" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_l" body1="d0" body2="rod_l" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="d0" body2="u1"/><exclude body1="d1" body2="u2"/><exclude body1="d2" body2="u3"/><exclude body1="d3" body2="u4"/><exclude body1="d4" body2="u5"/><exclude body1="d5" body2="rod_r"/><exclude body1="d0" body2="rod_l"/></contact>
<actuator><velocity name="drive" joint="j_r" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
