<mujoco model="470-steam-hammer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="hammer_h0" vertex="-0.05 -0.035 0.045 0.05 -0.035 0.045 0.05 0.035 0.045 -0.05 0.035 0.045 -0.05 -0.035 -0.045 0.05 -0.035 -0.045 0.05 0.035 -0.045 -0.05 0.035 -0.045"/><mesh name="frame_h0" vertex="-0.07 -0.025 0.13 0.07 -0.025 0.13 0.07 0.025 0.13 -0.07 0.025 0.13 -0.07 -0.025 0.1 0.07 -0.025 0.1 0.07 0.025 0.1 -0.07 0.025 0.1"/></asset>
<size memory="64M"/>
<worldbody>
<body name="hammer" pos="0 0 0.1752"><joint name="j_h" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.005 0.168" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.04815415318" mass="8" fullinertia="0.09822365475 0.1010002677 0.008878709978 0 0 0"/><geom name="hammer_h0" type="mesh" mesh="hammer_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="valve" pos="0.07 0 0.48"><joint name="j_v" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.015 0.015" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01030247336 0.00449740933" mass="0.01" fullinertia="0.000005173963321 0.000005064897448 9.39629466e-7 0 0 7.724185989e-7"/><body name="vrod" pos="0 0 0.09"><joint name="j_vr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0.01494949495" mass="0.005" fullinertia="2.413098472e-7 2.282658657e-7 3.609322391e-8 0 0 0"/></body>
</body>
<body name="lever" pos="0.099 0 0.59"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.09432379395 0 0" mass="0.2" fullinertia="0.000002353679477 0.001235594431 0.001235539361 0 0 0"/></body>
<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="0.9 0.95 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><connect name="p_v" body1="lever" body2="vrod" anchor="-0.029 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lever" body2="vrod"/></contact>
<actuator><velocity name="drive" joint="j_l" kv="3000" forcerange="-50 50"/></actuator>
</mujoco>
