<mujoco model="286-toe-lifter-puppet-valve">
<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>
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-0.109679 0.01 0.029998 -0.109793 -0.01 0.018999 -0.109793 0.01 0.018999 -0.10943 -0.01 0.018991 -0.10943 0.01 0.018991"/><mesh name="toe_h5" vertex="-0.109679 -0.01 0.029998 -0.109679 0.01 0.029998 -0.110334 -0.01 0.029998 -0.110334 0.01 0.029998 -0.110208 -0.01 0.018999 -0.110208 0.01 0.018999 -0.109793 -0.01 0.018999 -0.109793 0.01 0.018999"/><mesh name="toe_h6" vertex="-0.110334 -0.01 0.029998 -0.110334 0.01 0.029998 -0.111041 -0.01 0.029983 -0.111041 0.01 0.029983 -0.110675 -0.01 0.018989 -0.110675 0.01 0.018989 -0.110208 -0.01 0.018999 -0.110208 0.01 0.018999"/><mesh name="toe_h7" vertex="-0.111041 -0.01 0.029983 -0.111041 0.01 0.029983 -0.111799 -0.01 0.029949 -0.111799 0.01 0.029949 -0.111194 -0.01 0.018966 -0.111194 0.01 0.018966 -0.110675 -0.01 0.018989 -0.110675 0.01 0.018989"/><mesh name="toe_h8" vertex="-0.111799 -0.01 0.029949 -0.111799 0.01 0.029949 -0.112609 -0.01 0.029896 -0.112609 0.01 0.029896 -0.111765 -0.01 0.018929 -0.111765 0.01 0.018929 -0.111194 -0.01 0.018966 -0.111194 0.01 0.018966"/><mesh name="toe_h9" vertex="-0.112609 -0.01 0.029896 -0.112609 0.01 0.029896 -0.11347 -0.01 0.029821 -0.11347 0.01 0.029821 -0.112387 -0.01 0.018874 -0.112387 0.01 0.018874 -0.111765 -0.01 0.018929 -0.111765 0.01 0.018929"/><mesh name="toe_h10" vertex="-0.11347 -0.01 0.029821 -0.11347 0.01 0.029821 -0.114381 -0.01 0.029721 -0.114381 0.01 0.029721 -0.113059 -0.01 0.018801 -0.113059 0.01 0.018801 -0.112387 -0.01 0.018874 -0.112387 0.01 0.018874"/><mesh name="toe_h11" vertex="-0.114381 -0.01 0.029721 -0.114381 0.01 0.029721 -0.115341 -0.01 0.029594 -0.115341 0.01 0.029594 -0.113782 -0.01 0.018705 -0.113782 0.01 0.018705 -0.113059 -0.01 0.018801 -0.113059 0.01 0.018801"/><mesh name="toe_h12" vertex="-0.115341 -0.01 0.029594 -0.115341 0.01 0.029594 -0.11635 -0.01 0.029439 -0.11635 0.01 0.029439 -0.114554 -0.01 0.018587 -0.114554 0.01 0.018587 -0.113782 -0.01 0.018705 -0.113782 0.01 0.018705"/><mesh name="toe_h13" vertex="-0.11635 -0.01 0.029439 -0.11635 0.01 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0.01756 -0.118122 -0.01 0.01783 -0.118122 0.01 0.01783"/><mesh name="toe_h18" vertex="-0.122096 -0.01 0.028153 -0.122096 0.01 0.028153 -0.123378 -0.01 0.027779 -0.123378 0.01 0.027779 -0.120181 -0.01 0.017254 -0.120181 0.01 0.017254 -0.11913 -0.01 0.01756 -0.11913 0.01 0.01756"/><mesh name="toe_h19" vertex="-0.123378 -0.01 0.027779 -0.123378 0.01 0.027779 -0.124701 -0.01 0.027362 -0.124701 0.01 0.027362 -0.121276 -0.01 0.016909 -0.121276 0.01 0.016909 -0.120181 -0.01 0.017254 -0.120181 0.01 0.017254"/><mesh name="toe_h20" vertex="-0.124701 -0.01 0.027362 -0.124701 0.01 0.027362 -0.126065 -0.01 0.026899 -0.126065 0.01 0.026899 -0.122412 -0.01 0.016523 -0.122412 0.01 0.016523 -0.121276 -0.01 0.016909 -0.121276 0.01 0.016909"/><mesh name="toe_h21" vertex="-0.126065 -0.01 0.026899 -0.126065 0.01 0.026899 -0.127467 -0.01 0.026388 -0.127467 0.01 0.026388 -0.123704 -0.01 0.016052 -0.123704 0.01 0.016052 -0.122412 -0.01 0.016523 -0.122412 0.01 0.016523"/><mesh name="lifter_h0" vertex="-0.192 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<size memory="64M"/>
<worldbody>
<body name="toe" pos="0 0 0"><joint name="j_t" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.03638327901 0 0.007016603276" mass="0.4" fullinertia="0.00008232960508 0.0006963588246 0.0006405430391 0 0.0001068982569 0"/><geom name="toe_h0" type="mesh" mesh="toe_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h1" type="mesh" mesh="toe_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h2" type="mesh" mesh="toe_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h3" type="mesh" mesh="toe_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h4" type="mesh" mesh="toe_h4" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h5" type="mesh" mesh="toe_h5" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h6" type="mesh" mesh="toe_h6" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h7" type="mesh" mesh="toe_h7" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h8" type="mesh" mesh="toe_h8" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h9" type="mesh" mesh="toe_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h10" type="mesh" mesh="toe_h10" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h11" type="mesh" mesh="toe_h11" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h12" type="mesh" mesh="toe_h12" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h13" type="mesh" mesh="toe_h13" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h14" type="mesh" mesh="toe_h14" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h15" type="mesh" mesh="toe_h15" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h16" type="mesh" mesh="toe_h16" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h17" type="mesh" mesh="toe_h17" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h18" type="mesh" mesh="toe_h18" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h19" type="mesh" mesh="toe_h19" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h20" type="mesh" mesh="toe_h20" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="toe_h21" type="mesh" mesh="toe_h21" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="lifter" pos="0.032 0 0"><joint name="j_r" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="0 0.0458" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.04862151377 0 0.007392650387" mass="0.5" fullinertia="0.002133658463 0.003813165456 0.001749199692 0 0.0006968110322 0"/><geom name="lifter_h0" type="mesh" mesh="lifter_h0" contype="16" conaffinity="8" condim="3" friction="0.1 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_t" kv="20" forcerange="-10 10"/></actuator>
</mujoco>
