<mujoco model="460-fairbairns-bailing-scoop">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="lever" pos="0.331107 0 0.193157"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.09027504826 -0.01279629244 0.000310430323" mass="0.15" fullinertia="0.000002016885878 0.0006016561322 0.0006012135827 -0.000002758456405 0.000003619227281 9.485550319e-9"/><body name="pitman" pos="-0.18 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.013 -0.04352517986" mass="0.02" fullinertia="0.00002018545399 0.00002017746837 6.177266187e-8 0 0 0"/></body>
</body>
<body name="scoop" pos="0 0 0.1"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.1270653659 0.01890582546 -0.02942058759" mass="0.12" fullinertia="0.00006381311803 0.0005458594907 0.0005226326642 7.327094516e-8 0.0001126342354 -0.000001638164375"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_S" body1="pitman" body2="scoop" anchor="0 0 -0.1" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="pitman" body2="scoop"/></contact>
<actuator><velocity name="drive" joint="j_l" kv="300" forcerange="-20 20"/></actuator>
</mujoco>
