<mujoco model="378-pendulum-saw">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="frame_h0" vertex="0.035 -0.05 0.038 0.035 0.05 0.038 0.0338074039 -0.05 0.0470586666 0.0338074039 0.05 0.0470586666 0.0303108891 -0.05 0.0555 0.0303108891 0.05 0.0555 0.0247487373 -0.05 0.0627487373 0.0247487373 0.05 0.0627487373 0.0175 -0.05 0.0683108891 0.0175 0.05 0.0683108891 0.00905866658 -0.05 0.0718074039 0.00905866658 0.05 0.0718074039 2.1431319e-18 -0.05 0.073 2.1431319e-18 0.05 0.073 -0.00905866658 -0.05 0.0718074039 -0.00905866658 0.05 0.0718074039 -0.0175 -0.05 0.0683108891 -0.0175 0.05 0.0683108891 -0.0247487373 -0.05 0.0627487373 -0.0247487373 0.05 0.0627487373 -0.0303108891 -0.05 0.0555 -0.0303108891 0.05 0.0555 -0.0338074039 -0.05 0.0470586666 -0.0338074039 0.05 0.0470586666 -0.035 -0.05 0.038 -0.035 0.05 0.038 -0.0338074039 -0.05 0.0289413334 -0.0338074039 0.05 0.0289413334 -0.0303108891 -0.05 0.0205 -0.0303108891 0.05 0.0205 -0.0247487373 -0.05 0.0132512627 -0.0247487373 0.05 0.0132512627 -0.0175 -0.05 0.00768911087 -0.0175 0.05 0.00768911087 -0.00905866658 -0.05 0.00419259608 -0.00905866658 0.05 0.00419259608 -6.4293957e-18 -0.05 0.003 -6.4293957e-18 0.05 0.003 0.00905866658 -0.05 0.00419259608 0.00905866658 0.05 0.00419259608 0.0175 -0.05 0.00768911087 0.0175 0.05 0.00768911087 0.0247487373 -0.05 0.0132512627 0.0247487373 0.05 0.0132512627 0.0303108891 -0.05 0.0205 0.0303108891 0.05 0.0205 0.0338074039 -0.05 0.0289413334 0.0338074039 0.05 0.0289413334"/><mesh name="saw_h0" vertex="-0.07 -0.0008 0 -0.07 0.0008 0 0.07 -0.0008 0 0.07 0.0008 0 0.07 -0.0008 0.018 0.07 0.0008 0.018 -0.07 -0.0008 0.018 -0.07 0.0008 0.018"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="carriage" pos="0 0 0.18"><joint name="j_c" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0.0006028215557 -0.01242348754" mass="1" fullinertia="0.0005220931736 0.008772010711 0.008280314457 0 0 0.000005170106581"/><site name="cord_l_a" pos="-0.13 0 0.006" size="0.0025"/><site name="cord_r_a" pos="0.13 0 0.006" size="0.0025"/><body name="saw" pos="0 0 -0.107"><joint name="j_s" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0.04181777612" mass="1" fullinertia="0.0007159859436 0.003889261389 0.003180980054 0 0 0"/><geom name="saw_h0" type="mesh" mesh="saw_h0" contype="8" conaffinity="16" condim="3" friction="0.5 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
</body>
<body name="pendulum" pos="-0.23 0 0.335"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.00001480803306 -0.00002538519953 -0.2369831551" mass="1.5" fullinertia="0.008643089112 0.00879758061 0.0001948832115 1.327084402e-7 -0.000001154652418 0.000001979404146"/><body name="link" pos="0 0 -0.215"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.08792724407 -0.009 -0.005495452754" mass="0.1" fullinertia="0.000001643579052 0.0002507560519 0.0002497237343 0 0.00001556581366 0"/></body>
</body>
<body name="wl" pos="-0.17 0 0.11"><joint name="j_wl" type="slide" axis="0 0 1" damping="0.1" frictionloss="0"/><inertial pos="0 0 -0.017" mass="0.85" fullinertia="0.0001226833333 0.0001297666667 0.00008868333333 0 0 0"/><site name="cord_l_b" pos="0 0 0" size="0.0025"/></body>
<body name="wr" pos="0.17 0 0.11"><joint name="j_wr" type="slide" axis="0 0 1" damping="0.1" frictionloss="0"/><inertial pos="0 0 -0.017" mass="0.85" fullinertia="0.0001226833333 0.0001297666667 0.00008868333333 0 0 0"/><site name="cord_r_b" pos="0 0 0" size="0.0025"/></body>
<geom name="cord_l_over" type="cylinder" fromto="-0.15 -0.01 0.22 -0.15 0.01 0.22" size="0.02" contype="0" conaffinity="0" group="3" mass="0"/><site name="cord_l_side" pos="-0.15 0 0.25" size="0.0025"/>
<geom name="cord_r_over" type="cylinder" fromto="0.15 -0.01 0.22 0.15 0.01 0.22" size="0.02" contype="0" conaffinity="0" group="3" mass="0"/><site name="cord_r_side" pos="0.15 0 0.25" size="0.0025"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_saw" body1="link" body2="saw" anchor="0.16 0 -0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="saw"/></contact>
<tendon><spatial name="cord_l" limited="true" range="0 0.2068318531" width="0.00125" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="cord_l_a"/><geom geom="cord_l_over" sidesite="cord_l_side"/><site site="cord_l_b"/></spatial><spatial name="cord_r" limited="true" range="0 0.2068318531" width="0.00125" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="cord_r_a"/><geom geom="cord_r_over" sidesite="cord_r_side"/><site site="cord_r_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_p" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
