<mujoco model="72-tilt-hammer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="hammer_h1" vertex="0.042 -0.009 -0.024 0.042 0.009 -0.024 0.058 -0.009 -0.024 0.058 0.009 -0.024 0.058 -0.009 0.005 0.058 0.009 0.005 0.042 -0.009 0.005 0.042 0.009 0.005"/><mesh name="anvil_h0" vertex="-0.062 -0.012 -0.025 -0.062 0.012 -0.025 -0.038 -0.012 -0.025 -0.038 0.012 -0.025 -0.038 -0.012 0.00598 -0.038 0.012 0.00598 -0.062 -0.012 0.00598 -0.062 0.012 0.00598"/></asset>
<size memory="64M"/>
<worldbody>
<geom name="frame_r0" type="capsule" fromto="-0.1 0.008 0.03 -0.1 0.02 0.03" size="0.0035" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="frame_r1" type="capsule" fromto="-0.1 -0.008 0.03 -0.1 -0.02 0.03" size="0.0035" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="frame_r2" type="capsule" fromto="0 0.06 0 0 0.072 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="wheel_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0.03169687518 0" mass="0.2755279882" fullinertia="0.000145478343 0.00004194883376 0.000145478343 0 0 0"/><geom name="wheel_b_h0" type="capsule" fromto="-0.00866 0 0.005 -0.031177 0 0.018" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_b_h1" type="capsule" fromto="0.005 0 0.00866 0.018 0 0.031177" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_b_h2" type="capsule" fromto="0.00866 0 -0.005 0.031177 0 -0.018" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_b_h3" type="capsule" fromto="-0.005 0 -0.00866 -0.018 0 -0.031177" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="hammer" pos="-0.1 0 0.03"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0420009499 0 -0.005721110281" mass="0.1081753663" fullinertia="0.00000941561082 0.0000734579254 0.0000684870486 0 0.000004950477723 0"/><geom name="hammer_h0" type="capsule" fromto="0 0 0 0.108 0 0" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hammer_h1" type="mesh" mesh="hammer_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="anvil" pos="0 0 0"><geom name="anvil_h0" type="mesh" mesh="anvil_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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></equality>

<actuator><velocity name="drive" joint="j_b" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
