<mujoco model="128-three-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>
<asset><mesh name="frame_h0" vertex="-0.161 -0.008 -0.086 -0.161 0.008 -0.086 -0.059 -0.008 -0.086 -0.059 0.008 -0.086 -0.059 -0.008 -0.02 -0.059 0.008 -0.02 -0.161 -0.008 -0.02 -0.161 0.008 -0.02"/><mesh name="frame_h1" vertex="0.059 -0.008 0.01 0.059 0.008 0.01 0.099 -0.008 0.01 0.099 0.008 0.01 0.099 -0.008 0.086 0.099 0.008 0.086 0.059 -0.008 0.086 0.059 0.008 0.086"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wipers" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 3.105150276e-8" mass="0.4926648516" fullinertia="0.0005106108399 0.001004070409 0.0005106189752 0 0 0"/><geom name="wipers_h0" type="capsule" fromto="0 -0.008 0.06 0 0.008 0.06" size="0.014" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wipers_h1" type="capsule" fromto="0.051962 -0.008 -0.03 0.051962 0.008 -0.03" size="0.014" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wipers_h2" type="capsule" fromto="-0.051962 -0.008 -0.03 -0.051962 0.008 -0.03" size="0.014" contype="8" conaffinity="16" condim="3" friction="0.05 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"><joint name="j_f" type="slide" axis="1 0 0" damping="3" frictionloss="0"/><inertial pos="-0.0412562664 0 -0.01095488194" mass="0.615984" fullinertia="0.002650266346 0.008820419173 0.006196070811 0 -0.001346409074 0"/><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="bench" pos="0 0 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="5" forcerange="-20 20"/></actuator>
</mujoco>
