<mujoco model="180-single-pivoted-clamp-side-piece">
<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>
<asset><mesh name="wedge_h0" vertex="-0.034 -0.012 -0.09 -0.034 -0.004 -0.09 0.016769 -0.012 -0.09 0.016769 -0.004 -0.09 -0.011231 -0.012 -0.02 -0.011231 -0.004 -0.02 -0.034 -0.012 -0.02 -0.034 -0.004 -0.02"/></asset>
<size memory="64M"/>
<worldbody>
<body name="jaw" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.01645625575 0.001996502503" mass="0.2" fullinertia="0.0001100666156 0.0001017737341 0.00001300797817 0 0 0.000002948695512"/><geom name="jaw_h0" type="capsule" fromto="0 -0.02 -0.04 0 -0.002 -0.04" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="wedge" pos="0 0 0"><joint name="j_w" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="0 0.035487" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01633854134 -0.008 -0.06471764789" mass="0.3" fullinertia="0.0001604264598 0.0002019667673 0.00004528011237 0 0.00000322629635 0"/><geom name="wedge_h0" type="mesh" mesh="wedge_h0" contype="16" conaffinity="8" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<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></equality>

<actuator><velocity name="drive" joint="j_w" kv="6000" forcerange="-400 400"/></actuator>
</mujoco>
