<mujoco model="187-disengaging-lever-handle">
<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="gab_h0" vertex="-0.156 -0.004 -0.0045 -0.156 0.004 -0.0045 0.01 -0.004 -0.0045 0.01 0.004 -0.0045 0.01 -0.004 0.0115 0.01 0.004 0.0115 -0.156 -0.004 0.0115 -0.156 0.004 0.0115"/><mesh name="gab_h1" vertex="-0.1128 -0.004 -0.025 -0.1128 0.004 -0.025 -0.0978 -0.004 -0.025 -0.0978 0.004 -0.025 -0.0978 -0.004 -0.0044 -0.0978 0.004 -0.0044 -0.1128 -0.004 -0.0044 -0.1128 0.004 -0.0044"/><mesh name="gab_h2" vertex="-0.1422 -0.004 -0.025 -0.1422 0.004 -0.025 -0.1272 -0.004 -0.025 -0.1272 0.004 -0.025 -0.1272 -0.004 -0.0044 -0.1272 0.004 -0.0044 -0.1422 -0.004 -0.0044 -0.1422 0.004 -0.0044"/><mesh name="lever_h0" vertex="-0.045 -0.004 0.004 -0.045 0.004 0.004 -0.009 -0.004 0.004 -0.009 0.004 0.004 -0.009 -0.004 0.0125 -0.009 0.004 0.0125 -0.045 -0.004 0.0125 -0.045 0.004 0.0125"/></asset>
<size memory="64M"/>
<worldbody>
<body name="eccentric" pos="0.29 0 0.016"><joint name="j_e" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.01637413395 0.001187726823" mass="0.4" fullinertia="0.0001284858461 0.0002389971209 0.0001176479466 0 0 -0.000002078110487"/><body name="link" pos="0 0 0.024"><joint name="j_l" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.06562464969 -0.007527265589 -0.0123272092" mass="0.3" fullinertia="0.00002372906769 0.0005706225751 0.0005501879805 0.00001203262853 -0.0001025095175 0.000002260267194"/></body>
</body>
<body name="rod" pos="0.162235 0 0.016"><joint name="j_rod" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="-0.01548830808 0 0" mass="0.4" fullinertia="0.00001034036151 0.00009252963488 0.00008781790938 0 0 0"/><body name="gab" pos="-0.04 0 0"><joint name="j_g" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0" range="-0.05 0.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="40" springref="0"/><inertial pos="-0.08187171655 0 0.00006456933415" mass="0.3" fullinertia="0.00002401128681 0.0006960520847 0.0006752407979 0 -0.00003929612226 0"/><geom name="gab_h0" type="mesh" mesh="gab_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"/><geom name="gab_h1" type="mesh" mesh="gab_h1" 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"/><geom name="gab_h2" type="mesh" mesh="gab_h2" 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="lever" pos="-0.085 0 -0.0185"><joint name="j_h" type="hinge" axis="0 1 0" damping="4" frictionloss="0" range="-0.05 1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="100" springref="0"/><inertial pos="0.01566564377 0 -0.003220710567" mass="0.2" fullinertia="0.00002207034044 0.0002939098594 0.0002742467758 0 0.00006647552578 0"/><geom name="lever_h0" type="mesh" mesh="lever_h0" 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>
<body name="rocker" pos="0 0 -0.07"><joint name="j_rk" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0005381060328 0.008435116874 0.01684680397" mass="0.2" fullinertia="0.0001552829122 0.0001726278545 0.0000204508844 1.917093536e-7 -0.000004311198056 0.000006001001543"/><geom name="rocker_h0" type="capsule" fromto="0.002235 -0.0045 0.069964 0.002235 0.012 0.069964" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.01 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><connect name="pin_l" body1="link" body2="rod" anchor="-0.127765 0 -0.024" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="rod"/></contact>
<actuator><velocity name="drive" joint="j_e" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
