<mujoco model="493-lewis">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="ground_h0" vertex="-0.3 -0.14 -0.03 -0.3 0.14 -0.03 0.3 -0.14 -0.03 0.3 0.14 -0.03 0.3 -0.14 0 0.3 0.14 0 -0.3 -0.14 0 -0.3 0.14 0"/><mesh name="stone_h0" vertex="-0.16 -0.022 0 -0.16 0.1 0 -0.03 -0.022 0 -0.03 0.1 0 -0.03 -0.022 0.16 -0.03 0.1 0.16 -0.16 -0.022 0.16 -0.16 0.1 0.16"/><mesh name="stone_h1" vertex="0.03 -0.022 0 0.03 0.1 0 0.16 -0.022 0 0.16 0.1 0 0.16 -0.022 0.16 0.16 0.1 0.16 0.03 -0.022 0.16 0.03 0.1 0.16"/><mesh name="stone_h2" vertex="-0.03 -0.022 0 -0.03 0.1 0 0.03 -0.022 0 0.03 0.1 0 0.03 -0.022 0.08 0.03 0.1 0.08 -0.03 -0.022 0.08 -0.03 0.1 0.08"/><mesh name="wedge_h0" vertex="-0.016 -0.018 0 0.016 -0.018 0 0.016 0.018 0 -0.016 0.018 0 -0.0066 -0.018 0.134 0.0066 -0.018 0.134 0.0066 0.018 0.134 -0.0066 0.018 0.134"/><mesh name="pl_h0" vertex="-0.0077 -0.018 0 0.00529 -0.018 0 0.00529 0.018 0 -0.0077 0.018 0 -0.0077 -0.018 0.1048 0.01265 -0.018 0.1048 0.01265 0.018 0.1048 -0.0077 0.018 0.1048"/><mesh name="pr_h0" vertex="-0.00529 -0.018 0 0.0077 -0.018 0 0.0077 0.018 0 -0.00529 0.018 0 -0.01265 -0.018 0.1048 0.0077 -0.018 0.1048 0.0077 0.018 0.1048 -0.01265 0.018 0.1048"/></asset>
<size memory="64M"/>
<worldbody>
<body name="ground" pos="0 0 0"><geom name="ground_h0" type="mesh" mesh="ground_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"/></body>
<body name="stone" pos="0 0 0"><joint name="j_s" type="slide" axis="0 0 1" damping="1" frictionloss="0" range="-0.01 0.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.04036479321 0.07860021209" mass="14.48448" fullinertia="0.04858640575 0.158646051 0.1454887707 0 0 -0.0008184042554"/><geom name="stone_h0" type="mesh" mesh="stone_h0" contype="16" conaffinity="8" condim="3" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="stone_h1" type="mesh" mesh="stone_h1" contype="16" conaffinity="8" condim="3" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="stone_h2" type="mesh" mesh="stone_h2" contype="16" conaffinity="8" condim="3" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="wedge" pos="0 0 0.086"><joint name="j_w" type="slide" axis="0 0 1" damping="1" frictionloss="0" range="-0.006 0.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.0001800608969 0.1423137294" mass="1.358718969" fullinertia="0.02523992853 0.02524953297 0.0002268006261 0 0 9.018540402e-7"/><geom name="wedge_h0" type="mesh" mesh="wedge_h0" contype="16" conaffinity="8" 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="cl" pos="-0.022 0 0.0802" quat="1 0 0 0"><joint name="j_lz" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.01 0.4"/><inertial pos="0 0 0.01" mass="0.0009801769079" fullinertia="1.404920235e-8 1.960353816e-9 1.404920235e-8 0 0 0"/><geom name="sl" type="capsule" fromto="0 -0.005 0.01 0 0.005 0.01" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="pl" pos="0 0 0"><joint name="j_lx" type="slide" axis="1 0 0" damping="0.5" frictionloss="0" range="-0.005 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0007703969206 0 0.05625586883" mass="0.4905620928" fullinertia="0.0004946757547 0.0004541534335 0.00006543909092 0 -0.00001550990247 0"/><geom name="pl_h0" type="mesh" mesh="pl_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"/></body>
</body>
<body name="cr" pos="0.022 0 0.0802" quat="1 0 0 0"><joint name="j_rz" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.01 0.4"/><inertial pos="0 0 0.01" mass="0.0009801769079" fullinertia="1.404920235e-8 1.960353816e-9 1.404920235e-8 0 0 0"/><geom name="sr" type="capsule" fromto="0 -0.005 0.01 0 0.005 0.01" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="pr" pos="0 0 0"><joint name="j_rx" type="slide" axis="1 0 0" damping="0.5" frictionloss="0" range="-0.005 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0007703969206 0 0.05625586883" mass="0.4905620928" fullinertia="0.0004946757547 0.0004541534335 0.00006543909092 0 0.00001550990247 0"/><geom name="pr_h0" type="mesh" mesh="pr_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"/></body>
</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_w" kv="100000" forcerange="-3000 3000"/></actuator>
</mujoco>
