<mujoco model="279-clayton-journal-box">
<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>
<asset><mesh name="box_h0" vertex="-0.016 -0.013 -0.018 -0.016 -0.001 -0.018 -0.0125 -0.013 -0.018 -0.0125 -0.001 -0.018 -0.0125 -0.013 0.018 -0.0125 -0.001 0.018 -0.016 -0.013 0.018 -0.016 -0.001 0.018"/><mesh name="box_h1" vertex="0.0125 -0.013 -0.018 0.0125 -0.001 -0.018 0.016 -0.013 -0.018 0.016 -0.001 -0.018 0.016 -0.013 0.018 0.016 -0.001 0.018 0.0125 -0.013 0.018 0.0125 -0.001 0.018"/><mesh name="crosshead_h0" vertex="-0.0321 -0.014 -0.064 -0.0321 0 -0.064 -0.0161 -0.014 -0.064 -0.0161 0 -0.064 -0.0161 -0.014 0.064 -0.0161 0 0.064 -0.0321 -0.014 0.064 -0.0321 0 0.064"/><mesh name="crosshead_h1" vertex="0.0161 -0.014 -0.064 0.0161 0 -0.064 0.0321 -0.014 -0.064 0.0321 0 -0.064 0.0321 -0.014 0.064 0.0321 0 0.064 0.0161 -0.014 0.064 0.0161 0 0.064"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.00336182589 0.001352657005" mass="1.5" fullinertia="0.001318646021 0.00247918442 0.001240231122 0 0 0.00002102399456"/><body name="box" pos="0 0 0.04"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.007 0.002747691583" mass="0.3" fullinertia="0.00003801886991 0.00006925273188 0.00003825807239 0 0 0"/><geom name="box_h0" type="mesh" mesh="box_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="box_h1" type="mesh" mesh="box_h1" contype="8" conaffinity="16" condim="3" friction="0.05 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="crosshead" pos="0 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="2" frictionloss="0" range="-0.06 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.007 0" mass="1.2" fullinertia="0.00134990922 0.009357817278 0.008050773932 0 0 0"/><geom name="crosshead_h0" type="mesh" mesh="crosshead_h0" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crosshead_h1" type="mesh" mesh="crosshead_h1" contype="16" conaffinity="8" condim="3" friction="0.05 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_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
