<mujoco model="164-knee-lever">
<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="-0.16 0 -0.05"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.02173290006 -0.0135 0" mass="0.3456605262" fullinertia="0.00001690697355 0.001800318987 0.001786948574 0 0 0"/><body name="hlink" pos="0.1 0 0"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 -0.0055 -0.0382455" mass="0.06952600145" fullinertia="0.00005773202034 0.00005846119295 0.000001296968288 0 0 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="-0.03 0.0025 -0.0632455" mass="0.1076644595" fullinertia="0.0002075921161 0.000254844962 0.00004813210568 0 -0.00009759822685 0"/><body name="link2" pos="-0.06 0 -0.126491"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0.03 0.0105 -0.0632455" mass="0.1076644595" fullinertia="0.0002075921161 0.000254844962 0.00004813210568 0 0.00009759822685 0"/></body>
</body>
<body name="punch" pos="0 0 -0.252982"><joint name="j_p" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0.0105 -0.04802369668" mass="0.3554928" fullinertia="0.0001696348712 0.0002170514612 0.0000601006068 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 0 -0.076491" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_s" body1="link2" body2="punch" anchor="0.06 0 -0.126491" 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="400" forcerange="-400 400"/></actuator>
</mujoco>
