<mujoco model="381-joiners-clamp">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="board_h0" vertex="-0.17 -0.024 -0.02 -0.17 0 -0.02 0.25 -0.024 -0.02 0.25 0 -0.02 0.25 -0.024 0.02 0.25 0 0.02 -0.17 -0.024 0.02 -0.17 0 0.02"/><mesh name="wedge_a_h0" vertex="0 -0.022 0 0 0 0 0.16 -0.022 0 0.16 0 0 0.16 -0.022 0.0402 0.16 0 0.0402 0 -0.022 0.005 0 0 0.005"/><mesh name="wedge_b_h0" vertex="0 -0.022 -0.005 0 0 -0.005 0.16 -0.022 -0.0402 0.16 0 -0.0402 0.16 -0.022 0 0.16 0 0 0 -0.022 0 0 0 0"/></asset>
<size memory="64M"/>
<worldbody>
<body name="bed" pos="0 0 0"></body>
<body name="board" pos="0 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="3750" frictionloss="0" range="-0.06 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.03999936912 -0.01200461808 -4.416192371e-7" mass="0.2420116088" fullinertia="0.00004389045101 0.003589307031 0.003568668164 -1.862008022e-9 6.489027053e-9 -1.303405615e-9"/><geom name="board_h0" type="mesh" mesh="board_h0" contype="8" conaffinity="16" condim="3" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="wedge_a" pos="-0.2 0 0.023"><joint name="j_wa" type="slide" axis="-0.9766 0 -0.2149" damping="1" frictionloss="0" range="-0.005 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="60" springref="0"/><inertial pos="0.1007669617 -0.011 0.01358436578" mass="0.0556864" fullinertia="0.000007200530303 0.00009973647575 0.00009702798171 0 -0.00001042601599 0"/><geom name="wedge_a_h0" type="mesh" mesh="wedge_a_h0" contype="16" conaffinity="8" condim="3" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="wedge_b" pos="-0.2 0 -0.023"><joint name="j_wb" type="slide" axis="-0.9766 0 0.2149" damping="1" frictionloss="0" range="-0.005 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="60" springref="0"/><inertial pos="0.1007669617 -0.011 -0.01358436578" mass="0.0556864" fullinertia="0.000007200530303 0.00009973647575 0.00009702798171 0 0.00001042601599 0"/><geom name="wedge_b_h0" type="mesh" mesh="wedge_b_h0" contype="16" conaffinity="8" condim="3" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="drive" joint="j_b" gear="1" ctrlrange="-30 30"/></actuator>
</mujoco>
