<mujoco model="392-gig-saw">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="lower_h0" vertex="-0.014 -0.014 0.03 -0.014 -0.0035 0.03 0.014 -0.014 0.03 0.014 -0.0035 0.03 0.014 -0.014 0.039 0.014 -0.0035 0.039 -0.014 -0.014 0.039 -0.014 -0.0035 0.039"/><mesh name="lower_h1" vertex="-0.014 0.0035 0.03 -0.014 0.014 0.03 0.014 0.0035 0.03 0.014 0.014 0.03 0.014 0.0035 0.039 0.014 0.014 0.039 -0.014 0.0035 0.039 -0.014 0.014 0.039"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.001507024109 0.01409908932 1.016173983e-12" mass="1.777395346" fullinertia="0.004695876158 0.009214640914 0.004808480804 -0.00006714534091 0 0"/><body name="conrod" pos="-0.06 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.02613014127 -0.022 0.05987155719" mass="0.127655606" fullinertia="0.0002444316884 0.0002909519875 0.00004837767481 0 -0.0001056982307 0"/></body>
</body>
<body name="lower" pos="0 0 0.137477"><joint name="j_x" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 -0.0006355317598 0.01122743034" mass="0.408091029" fullinertia="0.000131903239 0.0001453005623 0.00008281614886 0 0 -0.00000291188806"/><geom name="lower_h0" type="mesh" mesh="lower_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="lower_h1" type="mesh" mesh="lower_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="saw" pos="0 0 0.363477"><joint name="j_u" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.052 0.085" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0002465016963 -0.000292478624 -0.04714514848" mass="0.09739649002" fullinertia="0.0005347492966 0.0005400494732 0.00001480626632 7.021943797e-9 -0.000001329781697 0.000001342995152"/><geom name="saw_h0" type="capsule" fromto="0 -0.012 -0.2 0 0.012 -0.2" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="spring" pos="0.28 0 0.5"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" stiffness="6.5" springref="0.65"/><inertial pos="-0.1492767686 0 0.0001731596558" mass="0.1958112" fullinertia="0.000003406605345 0.001449981228 0.001451274092 0 0.000004727852116 0"/><body name="link" pos="-0.28 0 0"><joint name="j_lk" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.01 -0.0622615" mass="0.02746227805" fullinertia="0.00003554757899 0.00003554757899 1.235802512e-7 0 0 0"/></body>
</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><connect name="p_rod" body1="conrod" body2="lower" anchor="0.06 0 0.137477" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_spring" body1="link" body2="saw" anchor="0 0 -0.124523" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="lower"/><exclude body1="link" body2="saw"/></contact>
<actuator><velocity name="drive" joint="j_w" kv="20" forcerange="-50 50"/></actuator>
</mujoco>
