<mujoco model="353-tilt-hammer-first-order-helve">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="hammer_h1" vertex="-0.174 -0.018 -0.034 -0.174 0.018 -0.034 -0.126 -0.018 -0.034 -0.126 0.018 -0.034 -0.122 -0.018 0.016 -0.122 0.018 0.016 -0.178 -0.018 0.026 -0.178 0.018 0.026"/><mesh name="anvil_h0" vertex="-0.39 -0.024 -0.154 -0.39 0.024 -0.154 -0.31 -0.024 -0.154 -0.31 0.024 -0.154 -0.31 -0.024 -0.09402 -0.31 0.024 -0.09402 -0.39 -0.024 -0.09402 -0.39 0.024 -0.09402"/></asset>
<size memory="64M"/>
<worldbody>
<geom name="frame_r0" type="capsule" fromto="-0.2 0.013 -0.06 -0.2 0.02 -0.06" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="frame_r1" type="capsule" fromto="0 0.04 0 0 0.044 0" size="0.01" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="wheel_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0.002551298296 0" mass="0.6568645739" fullinertia="0.0003535883803 0.0005692450074 0.0003535883803 0 0 0"/><geom name="wheel_b_h0" type="capsule" fromto="-0.017321 0 -0.01 -0.062354 0 -0.036" size="0.006" 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="wheel_b_h1" type="capsule" fromto="0.01 0 -0.017321 0.036 0 -0.062354" size="0.006" 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="wheel_b_h2" type="capsule" fromto="0.017321 0 0.01 0.062354 0 0.036" size="0.006" 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="wheel_b_h3" type="capsule" fromto="-0.01 0 0.017321 -0.036 0 0.062354" size="0.006" 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="hammer" pos="-0.2 0 -0.06"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.03 0.35" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.07683363038 0 -0.003199969326" mass="1.436773772" fullinertia="0.0003495688361 0.01419024159 0.01404360319 0 -0.0003214497383 0"/><geom name="hammer_h0" type="capsule" fromto="-0.15 0 0 0.216 0 0" size="0.006" 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="hammer_h1" type="mesh" mesh="hammer_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="anvil" pos="0 0 0"><geom name="anvil_h0" type="mesh" mesh="anvil_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_b" kv="10" forcerange="-40 40"/></actuator>
</mujoco>
