<mujoco model="277-colt-revolver-cylinder">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="cylinder_h0" vertex="-0.04 0.00539 0.001093 -0.04 0.014211 0.002881 -0.034 0.014211 0.002881 -0.034 0.00539 0.001093 -0.04 0.001749 0.005215 -0.04 0.004611 0.013747 -0.0394 0.004611 0.013747 -0.0394 0.001749 0.005215"/><mesh name="cylinder_h1" vertex="-0.04 0.001749 0.005215 -0.04 0.004611 0.013747 -0.034 0.004611 0.013747 -0.034 0.001749 0.005215 -0.04 -0.003641 0.004122 -0.04 -0.0096 0.010867 -0.0394 -0.0096 0.010867 -0.0394 -0.003641 0.004122"/><mesh name="cylinder_h2" vertex="-0.04 -0.003641 0.004122 -0.04 -0.0096 0.010867 -0.034 -0.0096 0.010867 -0.034 -0.003641 0.004122 -0.04 -0.00539 -0.001093 -0.04 -0.014211 -0.002881 -0.0394 -0.014211 -0.002881 -0.0394 -0.00539 -0.001093"/><mesh name="cylinder_h3" vertex="-0.04 -0.00539 -0.001093 -0.04 -0.014211 -0.002881 -0.034 -0.014211 -0.002881 -0.034 -0.00539 -0.001093 -0.04 -0.001749 -0.005215 -0.04 -0.004611 -0.013747 -0.0394 -0.004611 -0.013747 -0.0394 -0.001749 -0.005215"/><mesh name="cylinder_h4" vertex="-0.04 -0.001749 -0.005215 -0.04 -0.004611 -0.013747 -0.034 -0.004611 -0.013747 -0.034 -0.001749 -0.005215 -0.04 0.003641 -0.004122 -0.04 0.0096 -0.010867 -0.0394 0.0096 -0.010867 -0.0394 0.003641 -0.004122"/><mesh name="cylinder_h5" vertex="-0.04 0.003641 -0.004122 -0.04 0.0096 -0.010867 -0.034 0.0096 -0.010867 -0.034 0.003641 -0.004122 -0.04 0.00539 0.001093 -0.04 0.014211 0.002881 -0.0394 0.014211 0.002881 -0.0394 0.00539 0.001093"/><mesh name="cylinder_h6" vertex="-0.096 0 -0.022 -0.096 0 -0.025 -0.096 0.014 -0.024249 -0.096 0.021651 -0.0125 -0.096 0.019053 -0.011 -0.089 0 -0.022 -0.089 0 -0.025 -0.089 0.014 -0.024249 -0.089 0.021651 -0.0125 -0.089 0.019053 -0.011"/><mesh name="cylinder_h7" vertex="-0.096 0.019053 -0.011 -0.096 0.021651 -0.0125 -0.096 0.028 0 -0.096 0.021651 0.0125 -0.096 0.019053 0.011 -0.089 0.019053 -0.011 -0.089 0.021651 -0.0125 -0.089 0.028 0 -0.089 0.021651 0.0125 -0.089 0.019053 0.011"/><mesh name="cylinder_h8" vertex="-0.096 0.019053 0.011 -0.096 0.021651 0.0125 -0.096 0.014 0.024249 -0.096 0 0.025 -0.096 0 0.022 -0.089 0.019053 0.011 -0.089 0.021651 0.0125 -0.089 0.014 0.024249 -0.089 0 0.025 -0.089 0 0.022"/><mesh name="cylinder_h9" vertex="-0.096 0 0.022 -0.096 0 0.025 -0.096 -0.014 0.024249 -0.096 -0.021651 0.0125 -0.096 -0.019053 0.011 -0.089 0 0.022 -0.089 0 0.025 -0.089 -0.014 0.024249 -0.089 -0.021651 0.0125 -0.089 -0.019053 0.011"/><mesh name="cylinder_h10" vertex="-0.096 -0.019053 0.011 -0.096 -0.021651 0.0125 -0.096 -0.028 0 -0.096 -0.021651 -0.0125 -0.096 -0.019053 -0.011 -0.089 -0.019053 0.011 -0.089 -0.021651 0.0125 -0.089 -0.028 0 -0.089 -0.021651 -0.0125 -0.089 -0.019053 -0.011"/><mesh name="cylinder_h11" vertex="-0.096 -0.019053 -0.011 -0.096 -0.021651 -0.0125 -0.096 -0.014 -0.024249 -0.096 0 -0.025 -0.096 0 -0.022 -0.089 -0.019053 -0.011 -0.089 -0.021651 -0.0125 -0.089 -0.014 -0.024249 -0.089 0 -0.025 -0.089 0 -0.022"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cylinder" pos="0 0 0"><joint name="j_cyl" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0.003"/><inertial pos="-0.07091042611 0 0" mass="0.1" fullinertia="0.00003421856283 0.00004934248493 0.00004934246046 0 0 0"/><geom name="cylinder_h0" type="mesh" mesh="cylinder_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h1" type="mesh" mesh="cylinder_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h2" type="mesh" mesh="cylinder_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h3" type="mesh" mesh="cylinder_h3" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h4" type="mesh" mesh="cylinder_h4" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h5" type="mesh" mesh="cylinder_h5" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h6" type="mesh" mesh="cylinder_h6" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h7" type="mesh" mesh="cylinder_h7" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h8" type="mesh" mesh="cylinder_h8" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h9" type="mesh" mesh="cylinder_h9" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h10" type="mesh" mesh="cylinder_h10" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="cylinder_h11" type="mesh" mesh="cylinder_h11" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="bolt" pos="-0.0925 0 -0.0265"><joint name="j_bolt" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.008 0.0005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0.003"/><inertial pos="0 0 -0.004829145729" mass="0.01" fullinertia="2.722884064e-7 2.814749642e-7 1.79129397e-8 0 0 0"/><geom name="bolt_h0" type="capsule" fromto="-0.003 0 0 0.003 0 0" size="0.0015" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="hammer" pos="-0.021 0 -0.026"><joint name="j_hammer" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.003611710332 0.0000413695585 0.01562724235" mass="0.01574686016" fullinertia="0.000007554003949 0.000008942862419 0.000001567194129 1.212442473e-8 -0.000001742055655 1.018022095e-8"/><body name="dog" pos="-0.015 0.01 0"><joint name="j_dog" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-1.2 0.8" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.003" springref="-0.8"/><inertial pos="-0.0002673565908 0 0.01225248845" mass="0.02" fullinertia="0.000001144607677 0.000001150056247 3.487747479e-8 0 2.702442077e-8 0"/><geom name="dog_h0" type="capsule" fromto="-0.000919 -0.001 0.026 -0.000919 0.001 0.026" size="0.0012" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="frame" 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_hammer" kv="3" forcerange="-5 5"/></actuator>
</mujoco>
