<mujoco model="149-cams-levers-rods">
<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>
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<size memory="64M"/>
<worldbody>
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<body name="lever_a" pos="-0.18 0 0.05"><joint name="j_a1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.08342611661 -0.011 0" mass="0.3" fullinertia="0.000008440871016 0.0009733160429 0.0009720143807 0 0 0"/><geom name="lever_a_h0" type="capsule" fromto="0.18 -0.013 0 0.18 -0.009 0" size="0.005" contype="16" conaffinity="8" condim="3" friction="0.03 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="link_a" pos="0.12 0 0"><joint name="j_k1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.0195 0.03" mass="0.1" fullinertia="0.00003020833333 0.00003040833333 6.166666667e-7 0 0 0"/></body>
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<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><connect name="pin_a" body1="link_a" body2="rod_a" anchor="0 0 0.06" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b" body1="link_b" body2="rod_b" anchor="0 0 0.06" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_a" body2="rod_a"/><exclude body1="link_b" body2="rod_b"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="100" forcerange="-100 100"/></actuator>
</mujoco>
