<mujoco model="28-brush-wheels">
<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="face_w_p0" vertex="0.15 -0.006 0 0.1299038105676658 -0.006 0.07499999999999998 0.07500000000000001 -0.006 0.12990381056766578 9.184850993605149e-18 -0.006 0.15 -0.07499999999999997 -0.006 0.1299038105676658 -0.1299038105676658 -0.006 0.07499999999999998 -0.15 -0.006 1.8369701987210297e-17 -0.1299038105676658 -0.006 -0.07499999999999996 -0.07500000000000007 -0.006 -0.12990381056766576 -2.7554552980815445e-17 -0.006 -0.15 0.07500000000000001 -0.006 -0.12990381056766578 0.12990381056766576 -0.006 -0.07500000000000007 0.15 0.006 0 0.1299038105676658 0.006 0.07499999999999998 0.07500000000000001 0.006 0.12990381056766578 9.184850993605149e-18 0.006 0.15 -0.07499999999999997 0.006 0.1299038105676658 -0.1299038105676658 0.006 0.07499999999999998 -0.15 0.006 1.8369701987210297e-17 -0.1299038105676658 0.006 -0.07499999999999996 -0.07500000000000007 0.006 -0.12990381056766576 -2.7554552980815445e-17 0.006 -0.15 0.07500000000000001 0.006 -0.12990381056766578 0.12990381056766576 0.006 -0.07500000000000007"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disc" pos="0 0 0" quat="1 0 0 0"><joint name="j_disc" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0 0 -0.003100791469" mass="4.486167746" fullinertia="0.03846036013 0.03846036413 0.07510228513 0 0 -1.992913914e-9"/><body name="face_w" pos="0 0 0" quat="0.7071068 0.7071068 0 0"><geom name="face_w_p0" type="mesh" mesh="face_w_p0" contype="9" conaffinity="18" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<geom name="sh_disc" type="capsule" fromto="0 0 -0.006 0 0 -0.1" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="boss" type="capsule" fromto="0 0 -0.006 0 0 -0.03" size="0.024" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="brush" pos="0 0.12 0.036"><joint name="j_lift" type="slide" axis="0 0 1" damping="5" frictionloss="0" range="-0.01 0.01"/><joint name="brush_spin" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0.03"/><inertial pos="0 0 0" mass="2" diaginertia="0.000474 0.00072 0.000474"/><geom name="brush_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.03" contype="17" conaffinity="10" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></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_disc" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
