<mujoco model="321-harrisons-going-barrel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
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margin="0" group="2" mass="0"/><geom name="L_h34" type="mesh" mesh="L_h34" 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="L_h35" type="mesh" mesh="L_h35" 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 name="R" pos="0.010096 0 0.048851"><joint name="j_R" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-0.6 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.004" springref="0.3"/><inertial pos="0.0003976545546 -0.003 -0.006569728382" mass="0.006007752397" fullinertia="3.631432823e-7 3.703102484e-7 3.219926779e-8 0 2.01132561e-8 0"/><geom name="R_h0" type="mesh" mesh="R_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"/></body>
</body>
</body>
<body name="T" pos="-0.02914 0 0.088128"><joint name="j_T" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.6 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.004" springref="0.3"/><inertial pos="-0.0002291908989 0.003 -0.008958952269" mass="0.007545122685" fullinertia="7.689697741e-7 7.803042974e-7 4.277253454e-8 0 -1.858929974e-8 0"/><geom name="T_h0" type="mesh" mesh="T_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"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_B" kv="0.3" forcerange="-2 2"/></actuator>
</mujoco>
