<mujoco model="463-self-acting-weir">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="upper_h0" vertex="-0.006 0.03 0.08 0.006 0.03 0.08 0.006 0.03 -0.045 -0.006 0.03 -0.045 -0.006 -0.03 0.08 0.006 -0.03 0.08 0.006 -0.03 -0.045 -0.006 -0.03 -0.045"/><mesh name="upper_h1" vertex="-0.006 -0.007 0.165 0.006 -0.007 0.165 0.006 -0.007 0.08 -0.006 -0.007 0.08 -0.006 -0.03 0.165 0.006 -0.03 0.165 0.006 -0.03 0.08 -0.006 -0.03 0.08"/><mesh name="upper_h2" vertex="-0.006 0.03 0.165 0.006 0.03 0.165 0.006 0.03 0.08 -0.006 0.03 0.08 -0.006 0.007 0.165 0.006 0.007 0.165 0.006 0.007 0.08 -0.006 0.007 0.08"/><mesh name="lower_h0" vertex="-0.006 0.03 0.059 0.006 0.03 0.059 0.006 0.03 -0.032 -0.006 0.03 -0.032 -0.006 -0.03 0.059 0.006 -0.03 0.059 0.006 -0.03 -0.032 -0.006 -0.03 -0.032"/></asset>
<size memory="64M"/>
<worldbody>
<body name="upper" pos="0.0065 0 0.115"><joint name="j_u" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.02 1.25" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.05269807038" mass="0.06" fullinertia="0.0002319637514 0.0002128100638 0.00002057654669 0 0 0"/><geom name="upper_h0" type="mesh" mesh="upper_h0" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="upper_h1" type="mesh" mesh="upper_h1" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="upper_h2" type="mesh" mesh="upper_h2" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="lower" pos="-0.0065 0 0.035"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.45 0.05" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.0130931856" mass="0.03" fullinertia="0.00002935980378 0.00002059165724 0.000009470517911 0 0 0"/><geom name="lower_h0" type="mesh" mesh="lower_h0" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></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></equality>

<actuator><motor name="drive" joint="j_u" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
