<mujoco model="244-dynamometer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
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<body name="lever" pos="0 0 0"><joint name="j_lever" type="hinge" axis="0 -1 0" damping="30" frictionloss="0"/><inertial pos="0.1377570488 0 0.08323820015" mass="0.3118814068" fullinertia="0.00006068373465 0.006372590631 0.006392474603 0 -0.00007714606536 0"/><geom name="lever_h0" type="mesh" mesh="lever_h0" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="lever_h1" type="mesh" mesh="lever_h1" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="clamp" pos="0 0 -0.06"><joint name="j_clamp" type="slide" axis="0 0 1" damping="200" frictionloss="0" range="-0.015 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="20000" springref="-0.004"/><inertial pos="0 0 0.0003466413519" mass="0.06234233989" fullinertia="0.00008125271002 0.0001684481201 0.00009667290288 0 0 0"/><geom name="clamp_h0" type="mesh" mesh="clamp_h0" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="scale" pos="0.36 0 0.069"><joint name="j_scale" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="-0.001245107731 0 -0.2690485144" mass="1.5" fullinertia="0.001437459348 0.00347398057 0.003299591264 0 0.00001798772112 0"/></body>
</body>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_shaft" kv="5" forcerange="-40 40"/></actuator>
</mujoco>
