<mujoco model="410-bisecting-gauge">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="solid_h0" vertex="0 -0.17 -0.03 0.086 -0.17 -0.03 0.154 0.17 -0.03 0 0.17 -0.03 0 -0.17 0 0.086 -0.17 0 0.154 0.17 0 0 0.17 0"/><mesh name="cheek_h0" vertex="0 -0.02 -0.025 0.025 -0.02 -0.025 0.025 0.02 -0.025 0 0.02 -0.025 0 -0.02 0.034 0.025 -0.02 0.034 0.025 0.02 0.034 0 0.02 0.034"/></asset>
<size memory="64M"/>
<worldbody>
<body name="solid" pos="0 0 0"><geom name="solid_h0" type="mesh" mesh="solid_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"/></body>
<body name="gauge" pos="0 0 0"><joint name="j_g" type="slide" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.01954594857 0 0.01059569674" mass="0.0633752" fullinertia="0.00002242257795 0.0002287928923 0.0002179134525 0 -0.00002316120933 0"/><body name="cheek" pos="0.124 0 0"><joint name="j_c" type="slide" axis="1 0 0" damping="0.5" frictionloss="0" stiffness="30" springref="-0.03"/><inertial pos="0.0125 0 0.004885549368" mass="0.04171246598" fullinertia="0.000018115102 0.000014759477 0.000007663640259 0 0 0"/><geom name="cheek_h0" type="mesh" mesh="cheek_h0" contype="16" conaffinity="8" 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 name="bar2" pos="0.006 0 0.003"><joint name="j_2" type="hinge" axis="0 0 1" damping="0.001" frictionloss="0"/><inertial pos="-0.03951433739 -0.03425987653 0.009405492117" mass="0.05413832513" fullinertia="0.00002008462648 0.00002648150485 0.00004602494289 -0.00002234033555 6.253361819e-7 5.421896075e-7"/></body>
</body>
<body name="bar1" pos="-0.006 0 0.003"><joint name="j_1" type="hinge" axis="0 0 1" damping="0.001" frictionloss="0"/><inertial pos="0.03407914951 -0.02954736753 0.002989702354" mass="0.04546366147" fullinertia="0.00001358469352 0.00001790077623 0.00003120907692 0.00001507286409 1.588067988e-8 -1.376913705e-8"/></body>
</body>
<body name="rd_x" pos="0.062 -0.058958 0.006"><joint name="j_px" type="slide" axis="1 0 0" damping="0" frictionloss="0"/><inertial pos="0 0 -0.06575" mass="0.002" fullinertia="1.666666667e-10 1.666666667e-10 2.5e-10 0 0 0"/><body name="rd_y" pos="0 0 0"><joint name="j_py" type="slide" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="0 0 -0.06575" mass="0.002" fullinertia="1.666666667e-10 1.666666667e-10 2.5e-10 0 0 0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_p" body1="bar1" body2="bar2" anchor="0.068 -0.058958 0.006" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rd" body1="rd_y" body2="bar1" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="bar1" body2="bar2"/><exclude body1="rd_y" body2="bar1"/></contact>
<actuator><velocity name="drive" joint="j_g" kv="400" forcerange="-30 30"/></actuator>
</mujoco>
