<mujoco model="395-four-way-cock">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<asset><mesh name="plug_h0" vertex="0.083439 -0.026 0.069296 0.083439 -0.01 0.069296 0.103238 -0.026 0.089095 0.103238 -0.01 0.089095 0.089095 -0.026 0.103238 0.089095 -0.01 0.103238 0.069296 -0.026 0.083439 0.069296 -0.01 0.083439"/><mesh name="plug_h1" vertex="-0.02 -0.026 -0.02 -0.02 -0.009 -0.02 0.02 -0.026 -0.02 0.02 -0.009 -0.02 0.02 -0.026 -0.012 0.02 -0.009 -0.012 -0.02 -0.026 -0.012 -0.02 -0.009 -0.012"/><mesh name="plug_h2" vertex="-0.02 -0.026 0.012 -0.02 -0.009 0.012 0.02 -0.026 0.012 0.02 -0.009 0.012 0.02 -0.026 0.02 0.02 -0.009 0.02 -0.02 -0.026 0.02 -0.02 -0.009 0.02"/><mesh name="plug_h3" vertex="-0.02 -0.026 -0.012 -0.02 -0.009 -0.012 -0.012 -0.026 -0.012 -0.012 -0.009 -0.012 -0.012 -0.026 0.012 -0.012 -0.009 0.012 -0.02 -0.026 0.012 -0.02 -0.009 0.012"/><mesh name="plug_h4" vertex="0.012 -0.026 -0.012 0.012 -0.009 -0.012 0.02 -0.026 -0.012 0.02 -0.009 -0.012 0.02 -0.026 0.012 0.02 -0.009 0.012 0.012 -0.026 0.012 0.012 -0.009 0.012"/><mesh name="key_h0" vertex="-0.0115 -0.025 -0.0115 -0.0115 -0.0095 -0.0115 0.0115 -0.025 -0.0115 0.0115 -0.0095 -0.0115 0.0115 -0.025 0.0115 0.0115 -0.0095 0.0115 -0.0115 -0.025 0.0115 -0.0115 -0.0095 0.0115"/></asset>
<size memory="64M"/>
<worldbody>
<body name="casing" pos="0 0 0"><geom name="casing_h0" type="capsule" fromto="0.101936 -0.026 0.074061 0.101936 -0.01 0.074061" size="0.009" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="casing_h1" type="capsule" fromto="-0.101936 -0.026 0.074061 -0.101936 -0.01 0.074061" size="0.009" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="plug" pos="0 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.3" frictionloss="0.05"/><inertial pos="0.002604655764 -0.001186239826 0.002604655764" mass="4.366820829" fullinertia="0.01048074897 0.02056089403 0.01048074897 0.0001885684692 -0.0008342459561 0.0001885684692"/><geom name="plug_h0" type="mesh" mesh="plug_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="plug_h1" type="mesh" mesh="plug_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="plug_h2" type="mesh" mesh="plug_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="plug_h3" type="mesh" mesh="plug_h3" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="plug_h4" type="mesh" mesh="plug_h4" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="key" pos="0 0 0"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 -0.02488071216 0.01143264708" mass="0.1592878348" fullinertia="0.0000775603326 0.00007493407971 0.00001339630784 0 0 0.000009322640882"/><geom name="key_h0" type="mesh" mesh="key_h0" contype="8" conaffinity="16" condim="3" friction="0.15 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_k" gear="-1" ctrlrange="0 4.5"/><motor name="foot2" joint="j_k" gear="1" ctrlrange="0 4.5"/></actuator>
</mujoco>
