<mujoco model="348-snyder-two-reciprocations-one-revolution">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="K_h0" vertex="-0.12 0 0.01 -0.12 0.01 0.01 0.12 0 0.01 0.12 0.01 0.01 0.12 0 0.018 0.12 0.01 0.018 -0.12 0 0.018 -0.12 0.01 0.018"/><mesh name="K_h1" vertex="-0.12 0 -0.018 -0.12 0.01 -0.018 0.12 0 -0.018 0.12 0.01 -0.018 0.12 0 -0.01 0.12 0.01 -0.01 -0.12 0 -0.01 -0.12 0.01 -0.01"/><mesh name="K_h2" vertex="0.01 -0.012 -0.12 0.01 0 -0.12 0.018 -0.012 -0.12 0.018 0 -0.12 0.018 -0.012 0.12 0.018 0 0.12 0.01 -0.012 0.12 0.01 0 0.12"/><mesh name="K_h3" vertex="-0.018 -0.012 -0.12 -0.018 0 -0.12 -0.01 -0.012 -0.12 -0.01 0 -0.12 -0.01 -0.012 0.12 -0.01 0 0.12 -0.018 -0.012 0.12 -0.018 0 0.12"/><mesh name="S1_h0" vertex="-0.02 0.0005 -0.0098 -0.02 0.0095 -0.0098 0.02 0.0005 -0.0098 0.02 0.0095 -0.0098 0.02 0.0005 0.0098 0.02 0.0095 0.0098 -0.02 0.0005 0.0098 -0.02 0.0095 0.0098"/><mesh name="S2_h0" vertex="-0.0098 -0.0115 -0.02 -0.0098 -0.0005 -0.02 0.0098 -0.0115 -0.02 0.0098 -0.0005 -0.02 0.0098 -0.0115 0.02 0.0098 -0.0005 0.02 -0.0098 -0.0115 0.02 -0.0098 -0.0005 0.02"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><body name="K" pos="0 0 0"><joint name="j_K" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.01618315886 0" mass="7.608790348" fullinertia="0.03525801786 0.06921983835 0.03498253933 0 0 0"/><geom name="K_h0" type="mesh" mesh="K_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="K_h1" type="mesh" mesh="K_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"/><geom name="K_h2" type="mesh" mesh="K_h2" 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="K_h3" type="mesh" mesh="K_h3" 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 name="N" pos="0 0 0.26"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.03 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.031 0.073" mass="0.5863104" fullinertia="0.00149509152 0.001507404038 0.00004397328 0 0 0"/><body name="B" pos="0 0 0"><joint name="j_B" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.01732859383 -0.1844562546" mass="0.384203148" fullinertia="0.00502823435 0.005035292068 0.00001695965562 0 0 0.00003993727439"/><body name="S1" pos="0 0 -0.26"><joint name="j_c1" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0.005 0" mass="0.0550368" fullinertia="0.000002133409824 0.000009100151424 0.0000077097384 0 0 0"/><geom name="S1_h0" type="mesh" mesh="S1_h0" contype="16" conaffinity="8" 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>
<body name="S2" pos="0 0 -0.36"><joint name="j_c2" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.006 0" mass="0.0672672" fullinertia="0.0000096472376 0.0000111224073 0.000002831724896 0 0 0"/><geom name="S2_h0" type="mesh" mesh="S2_h0" contype="16" conaffinity="8" 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>
</body>
</body>
</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_K" kv="30" forcerange="-50 50"/></actuator>
</mujoco>
