<mujoco model="363-see-saw">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="plank_h0" vertex="-1.2 -0.12 0 -1.2 0.12 0 1.2 -0.12 0 1.2 0.12 0 1.2 -0.12 0.04 1.2 0.12 0.04 -1.2 -0.12 0.04 -1.2 0.12 0.04"/><mesh name="legs1_h0" vertex="-0.05 -0.08 -0.2 -0.05 0.08 -0.2 0.05 -0.08 -0.2 0.05 0.08 -0.2 0.05 -0.08 -0.17 0.05 0.08 -0.17 -0.05 -0.08 -0.17 -0.05 0.08 -0.17"/><mesh name="legs2_h0" vertex="-0.05 -0.08 -0.2 -0.05 0.08 -0.2 0.05 -0.08 -0.2 0.05 0.08 -0.2 0.05 -0.08 -0.17 0.05 0.08 -0.17 -0.05 -0.08 -0.17 -0.05 0.08 -0.17"/><mesh name="ground_h0" vertex="-1.5 -0.3 -0.04 -1.5 0.3 -0.04 1.5 -0.3 -0.04 1.5 0.3 -0.04 1.5 -0.3 0 1.5 0.3 0 -1.5 -0.3 0 -1.5 0.3 0"/><mesh name="ground_h1" vertex="-1.3 -0.14 0 -1.3 0.14 0 -1.1 -0.14 0 -1.1 0.14 0 -1.1 -0.14 0.12 -1.1 0.14 0.12 -1.3 -0.14 0.12 -1.3 0.14 0.12"/><mesh name="ground_h2" vertex="1.1 -0.14 0 1.1 0.14 0 1.3 -0.14 0 1.3 0.14 0 1.3 -0.14 0.12 1.3 0.14 0.12 1.1 -0.14 0.12 1.1 0.14 0.12"/></asset>
<size memory="64M"/>
<worldbody>
<body name="plank" pos="0 0 0.5"><joint name="j_p" type="hinge" axis="0 -1 0" damping="15" frictionloss="0"/><inertial pos="0 0 0.01912806263" mass="14.72120068" fullinertia="0.0749607099 6.689086481 6.757234367 0 0 0"/><geom name="plank_h0" type="mesh" mesh="plank_h0" contype="8" conaffinity="16" condim="3" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><body name="legs1" pos="-0.9 0 0"><joint name="j_l1" type="slide" axis="0 0 -1" damping="5" frictionloss="0" range="0 0.45" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="100" springref="0"/><inertial pos="0 0 -0.1077272727" mass="0.16896" fullinertia="0.0009744872727 0.0006852072727 0.000431616 0 0 0"/><geom name="legs1_h0" type="mesh" mesh="legs1_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="legs2" pos="0.9 0 0"><joint name="j_l2" type="slide" axis="0 0 -1" damping="5" frictionloss="0" range="0 0.45" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="100" springref="0"/><inertial pos="0 0 -0.1077272727" mass="0.16896" fullinertia="0.0009744872727 0.0006852072727 0.000431616 0 0 0"/><geom name="legs2_h0" type="mesh" mesh="legs2_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
</body>
<body name="ground" pos="0 0 0"><geom name="ground_h0" type="mesh" mesh="ground_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="ground_h1" type="mesh" mesh="ground_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="ground_h2" type="mesh" mesh="ground_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" 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><motor name="foot1" joint="j_l1" gear="1" ctrlrange="0 240"/><motor name="foot2" joint="j_l2" gear="1" ctrlrange="0 240"/></actuator>
</mujoco>
