<mujoco model="494-tongs-for-lifting-stones">
<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="-0.1 -0.06 0 -0.1 0.06 0 0.1 -0.06 0 0.1 0.06 0 0.1 -0.06 0.24 0.1 0.06 0.24 -0.1 -0.06 0.24 -0.1 0.06 0.24"/></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 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.12" mass="13.824" fullinertia="0.082944 0.1124352 0.0626688 0 0 0"/><geom name="stone_h0" type="mesh" mesh="stone_h0" contype="16" conaffinity="8" condim="3" friction="1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="sh" pos="0 0 0.36"><joint name="j_sh" type="slide" axis="0 0 1" damping="1" frictionloss="0" range="-0.05 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.1859432515" mass="0.3834452064" fullinertia="0.005614945515 0.005614491105 0.00001328453367 0 0 0"/><body name="la" pos="0 0 0"><joint name="j_la" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.04 -0.016 -0.015" mass="0.05234146983" fullinertia="0.000004539546998 0.000032168195 0.00002828291637 0 -0.000010360743 0"/></body>
<body name="lb" pos="0 0 0"><joint name="j_lb" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.04 0.016 -0.015" mass="0.05234146983" fullinertia="0.000004539546998 0.000032168195 0.00002828291637 0 0.000010360743 0"/></body>
</body>
<body name="piv" pos="0 0 0.3" quat="1 0 0 0"><joint name="j_c" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="-0.08 0.6"/><inertial pos="0 0 0" mass="0.0245044227" fullinertia="0.000004186172211 3.063052837e-7 0.000004186172211 0 0 0"/><geom name="pin" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.005" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="ja" pos="0 0 0"><joint name="j_ja" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.04313583831 -0.007 -0.01495605882" mass="0.2670907387" fullinertia="0.0004036072569 0.002094801517 0.001695555948 0 0.0006980046399 0"/><geom name="ja_h0" type="capsule" fromto="0.134 -0.007 -0.104 0.104 -0.007 -0.11" size="0.0035" contype="8" conaffinity="16" condim="3" friction="1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="jb" pos="0 0 0"><joint name="j_jb" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.04313583831 0.007 -0.01495605882" mass="0.2670907387" fullinertia="0.0004036072569 0.002094801517 0.001695555948 0 -0.0006980046399 0"/><geom name="jb_h0" type="capsule" fromto="-0.134 0.007 -0.104 -0.104 0.007 -0.11" size="0.0035" contype="8" conaffinity="16" condim="3" friction="1 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><connect name="pin_a" body1="la" body2="ja" anchor="-0.08 0 -0.03" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b" body1="lb" body2="jb" anchor="0.08 0 -0.03" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="la" body2="ja"/><exclude body1="lb" body2="jb"/></contact>
<actuator><velocity name="drive" joint="j_sh" kv="100000" forcerange="-3000 3000"/></actuator>
</mujoco>
