<mujoco model="389-eccentric-lifting-jack">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="rack_h0" vertex="0.027 -0.02 -0.12 0.027 0.02 -0.12 0.041 -0.02 -0.12 0.041 0.02 -0.12 0.027 -0.02 -0.1002 0.027 0.02 -0.1002"/><mesh name="rack_h1" vertex="0.027 -0.02 -0.1 0.027 0.02 -0.1 0.041 -0.02 -0.1 0.041 0.02 -0.1 0.027 -0.02 -0.0802 0.027 0.02 -0.0802"/><mesh name="rack_h2" vertex="0.027 -0.02 -0.08 0.027 0.02 -0.08 0.041 -0.02 -0.08 0.041 0.02 -0.08 0.027 -0.02 -0.0602 0.027 0.02 -0.0602"/><mesh name="rack_h3" vertex="0.027 -0.02 -0.06 0.027 0.02 -0.06 0.041 -0.02 -0.06 0.041 0.02 -0.06 0.027 -0.02 -0.0402 0.027 0.02 -0.0402"/><mesh name="rack_h4" vertex="0.027 -0.02 -0.04 0.027 0.02 -0.04 0.041 -0.02 -0.04 0.041 0.02 -0.04 0.027 -0.02 -0.0202 0.027 0.02 -0.0202"/><mesh name="rack_h5" vertex="0.027 -0.02 -0.02 0.027 0.02 -0.02 0.041 -0.02 -0.02 0.041 0.02 -0.02 0.027 -0.02 -0.0002 0.027 0.02 -0.0002"/><mesh name="rack_h6" vertex="0.027 -0.02 0 0.027 0.02 0 0.041 -0.02 0 0.041 0.02 0 0.027 -0.02 0.0198 0.027 0.02 0.0198"/><mesh name="rack_h7" vertex="0.027 -0.02 0.02 0.027 0.02 0.02 0.041 -0.02 0.02 0.041 0.02 0.02 0.027 -0.02 0.0398 0.027 0.02 0.0398"/><mesh name="rack_h8" vertex="0.027 -0.02 0.04 0.027 0.02 0.04 0.041 -0.02 0.04 0.041 0.02 0.04 0.027 -0.02 0.0598 0.027 0.02 0.0598"/><mesh name="rack_h9" vertex="0.027 -0.02 0.06 0.027 0.02 0.06 0.041 -0.02 0.06 0.041 0.02 0.06 0.027 -0.02 0.0798 0.027 0.02 0.0798"/><mesh name="rack_h10" vertex="0.027 -0.02 0.08 0.027 0.02 0.08 0.041 -0.02 0.08 0.041 0.02 0.08 0.027 -0.02 0.0998 0.027 0.02 0.0998"/><mesh name="rack_h11" vertex="0.027 -0.02 0.1 0.027 0.02 0.1 0.041 -0.02 0.1 0.041 0.02 0.1 0.027 -0.02 0.1198 0.027 0.02 0.1198"/><mesh name="rack_h12" vertex="0.027 -0.02 0.12 0.027 0.02 0.12 0.041 -0.02 0.12 0.041 0.02 0.12 0.027 -0.02 0.1398 0.027 0.02 0.1398"/><mesh name="rack_h13" vertex="0.027 -0.02 0.14 0.027 0.02 0.14 0.041 -0.02 0.14 0.041 0.02 0.14 0.027 -0.02 0.1598 0.027 0.02 0.1598"/><mesh name="rack_h14" vertex="0.027 -0.02 0.16 0.027 0.02 0.16 0.041 -0.02 0.16 0.041 0.02 0.16 0.027 -0.02 0.1798 0.027 0.02 0.1798"/><mesh name="rack_h15" vertex="0.027 -0.02 0.18 0.027 0.02 0.18 0.041 -0.02 0.18 0.041 0.02 0.18 0.027 -0.02 0.1998 0.027 0.02 0.1998"/><mesh name="rack_h16" vertex="0.027 -0.02 0.2 0.027 0.02 0.2 0.041 -0.02 0.2 0.041 0.02 0.2 0.027 -0.02 0.2198 0.027 0.02 0.2198"/><mesh name="rack_h17" vertex="0.027 -0.02 0.22 0.027 0.02 0.22 0.041 -0.02 0.22 0.041 0.02 0.22 0.027 -0.02 0.2398 0.027 0.02 0.2398"/><mesh name="rack_h18" vertex="0.027 -0.02 0.24 0.027 0.02 0.24 0.041 -0.02 0.24 0.041 0.02 0.24 0.027 -0.02 0.2598 0.027 0.02 0.2598"/></asset>
<size memory="64M"/>
<worldbody>
<body name="stock" pos="0 0 0"></body>
<body name="rack" pos="0 0 0.3"><joint name="j_z" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0.00186678576 0 0.008769902554" mass="4" fullinertia="0.1468510932 0.1479671947 0.00248010946 0 -0.0004300099148 0"/><geom name="rack_h0" type="mesh" mesh="rack_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h1" type="mesh" mesh="rack_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h2" type="mesh" mesh="rack_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h3" type="mesh" mesh="rack_h3" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h4" type="mesh" mesh="rack_h4" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h5" type="mesh" mesh="rack_h5" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h6" type="mesh" mesh="rack_h6" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h7" type="mesh" mesh="rack_h7" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h8" type="mesh" mesh="rack_h8" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h9" type="mesh" mesh="rack_h9" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h10" type="mesh" mesh="rack_h10" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h11" type="mesh" mesh="rack_h11" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h12" type="mesh" mesh="rack_h12" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h13" type="mesh" mesh="rack_h13" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h14" type="mesh" mesh="rack_h14" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h15" type="mesh" mesh="rack_h15" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h16" type="mesh" mesh="rack_h16" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h17" type="mesh" mesh="rack_h17" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rack_h18" type="mesh" mesh="rack_h18" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="ecc" pos="0.105 0 0.33"><joint name="j_e" type="hinge" axis="0 -1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0.0007480211082 -0.01486015831" mass="1.532384073" fullinertia="0.0008624422303 0.001408051073 0.0008364863595 0 0 -0.00001703354017"/><body name="strap" pos="0 0 -0.016"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0008143712342 0 0.0011723504" mass="1.622769377" fullinertia="0.001262611436 0.002317868462 0.001208382588 0 0.00007840217448 0"/><geom name="strap_h0" type="capsule" fromto="-0.055709 0 0.068592 -0.069 0 0.0775" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="stop" pos="0.072 0 0.425"><joint name="j_st" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="-0.35 0.35" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.004631329702 0 0.006689630524" mass="0.08470507953" fullinertia="0.00001754759704 0.00002243033857 0.00001077358916 0 0.000009006585694 0"/><geom name="stop_h0" type="capsule" fromto="-0.026893 0 0.038845 -0.036 0 0.052" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" 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><velocity name="drive" joint="j_e" kv="50" forcerange="-200 200"/></actuator>
</mujoco>
