<mujoco model="85-stamper-two-wipers">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="1" fullinertia="0.000161408475 0.0004703020752 0.0003628936002 0 -0.0001811358871 0"/><geom name="shaft_h0" type="mesh" mesh="shaft_h0" 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="shaft_h1" type="mesh" mesh="shaft_h1" 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="rod_a" pos="-0.07 0 -0.12"><joint name="j_a" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.005 0.0545" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.003508069781 0 0.07563131984" mass="1.5" fullinertia="0.006469506758 0.006605522138 0.000272768272 0 -0.0002703073718 0"/><geom name="rod_a_h0" type="mesh" mesh="rod_a_h0" 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="rod_a_h1" type="mesh" mesh="rod_a_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="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_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_s" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
