<mujoco model="347-section-disk-engine">
<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>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><body name="K" pos="-0.32 0 0"><joint name="j_K" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0564760955 0 0.03784773076" mass="3.985103694" fullinertia="0.01295649103 0.03495286474 0.02318505581 0 -0.01002769975 0"/><geom name="K_h0" type="capsule" fromto="0.073294 0.0133 0.114542 0.033385 0.0133 0.133071" size="0.005" 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="K_h1" type="capsule" fromto="0.073294 -0.0133 0.114542 0.033385 -0.0133 0.133071" size="0.005" 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="K_h2" type="capsule" fromto="0.078894 0 0.126605 0.038986 0 0.145134" size="0.005" 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="K_h3" type="capsule" fromto="0.067693 0 0.102479 0.027784 0 0.121008" size="0.005" 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="G" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 0 1" damping="0.001" frictionloss="0" range="-0.46 0.46" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0" mass="0.01" fullinertia="3.333333333e-9 5e-9 3.333333333e-9 0 0 0"/><body name="D" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0" range="-0.9 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0184400621 -1.282557895e-7 0.008561516418" mass="4.738988283" fullinertia="0.03512824693 0.03956336963 0.0386037068 1.120791923e-8 0.002066313286 -5.203712657e-9"/><geom name="D_h0" type="capsule" fromto="-0.217682 0 0.101067 -0.282987 0 0.131387" size="0.008" contype="16" conaffinity="8" 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>
</body>
</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_K" kv="30" forcerange="-50 50"/></actuator>
</mujoco>
