<mujoco model="385-russian-door-closer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="door_h0" vertex="0.004 -0.015 0.32 0.004 0.015 0.32 0.09 -0.015 0.334 0.09 0.015 0.334 0.18 -0.015 0.316 0.18 0.015 0.316 0.28 -0.015 0.331 0.28 0.015 0.331 0.37 -0.015 0.317 0.37 0.015 0.317 0.46 -0.015 0.329 0.46 0.015 0.329 0.46 -0.015 0.5 0.46 0.015 0.5 0.004 -0.015 0.5 0.004 0.015 0.5"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="door" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 0 1" damping="0.3" frictionloss="0" range="0 1.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.2329376749 -0.0007439545417 0.4119133794" mass="4.159838361" fullinertia="0.01087510636 0.08116091613 0.07098145299 0.00002025050944 0.0003254844694 -0.00003995731302"/><geom name="door_h0" type="mesh" mesh="door_h0" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><body name="pin_d" pos="0.22 0 0.525"><joint name="j_pd" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 0.0175" mass="0.06616194128" fullinertia="0.00003160886745 0.00003160886745 0.000001190914943 0 0 0"/></body>
</body>
<body name="hand" pos="0 0 0"><joint name="j_h" type="hinge" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0.1814693878 -0.02736734694 0.4" mass="0.04618141201" fullinertia="0.000004823943249 0.0009019259374 0.000898512554 -0.00001346089104 0 0"/><geom name="hand_h0" type="capsule" fromto="0.36 -0.021 0.37 0.36 -0.021 0.43" size="0.005" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="pin_f" pos="-0.22 0 0.565"><joint name="j_pf" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.0025" mass="0.0308755726" fullinertia="0.000003429761523 0.000003429761523 5.557603068e-7 0 0 0"/><body name="link_f" pos="0 0 0.015"><joint name="j_lf" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.11 -0.012 0.0593715" mass="0.4766107815" fullinertia="0.0009948385759 0.004343698388 0.003363741955 0 -0.001804191613 0"/><body name="link_d" pos="0.22 0 0.118743"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.11 0.012 -0.0593715" mass="0.4766107815" fullinertia="0.0009948385759 0.004343698388 0.003363741955 0 0.001804191613 0"/></body>
<body name="weight" pos="0.22 0 0.118743"><joint name="j_wt" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 -0.105921206" mass="3" fullinertia="0.001745617113 0.001745617113 0.001269443796 0 0 0"/></body>
</body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_d" body1="link_d" body2="pin_d" anchor="0.22 0 -0.118743" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_d" body2="pin_d"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="40" forcerange="-30 30"/></actuator>
</mujoco>
