<mujoco model="471-hotchkiss-atmospheric-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="-0.04 -0.03 -0.12 0.04 -0.03 -0.12 0.04 0.03 -0.12 -0.04 0.03 -0.12 -0.04 -0.03 -0.19 0.04 -0.03 -0.19 0.04 0.03 -0.19 -0.04 0.03 -0.19"/><mesh name="frame_h0" vertex="-0.06 -0.025 0.1 0.06 -0.025 0.1 0.06 0.025 0.1 -0.06 0.025 0.1 -0.06 -0.025 0.07 0.06 -0.025 0.07 0.06 0.025 0.07 -0.06 0.025 0.07"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cylinder" pos="0 0 0.2902"><joint name="j_c" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.02 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01971655429 0.0005955820338" mass="1.5" fullinertia="0.007001903829 0.007588467633 0.0009437426538 0 0 0.00003675672363"/><body name="hammer" pos="0 0 0"><joint name="j_p" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.078 0.078" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.1312982457" mass="12" fullinertia="0.04300727339 0.04534259851 0.009020825108 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="conrod" pos="0 0 0.109"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0.1022814499" mass="0.2" fullinertia="0.0006589127908 0.0006585761881 0.000002576528074 0 0 0"/></body>
</body>
<body name="crank" pos="0 0 0.6292"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.00365615601 -0.008632228419" mass="0.6" fullinertia="0.0001745257361 0.0001999548541 0.00004912826337 0 0 -0.000001780883919"/></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_k" body1="crank" body2="conrod" anchor="0 0 -0.05" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="crank" body2="conrod"/></contact>
<actuator><velocity name="drive" joint="j_k" kv="3000" forcerange="-200 200"/></actuator>
</mujoco>
