<mujoco model="485-common-wind-mill">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81" density="1.2" viscosity="0.000018" wind="2.5 0 0"/>
<asset><mesh name="sails_h0" vertex="-0.008914 0.044824 0.011745 0.006537 0.011199 0.04537 0.008914 0.011745 0.044824 -0.006537 0.04537 0.011199 -0.01355 0.189261 0.136008 0.011172 0.135461 0.189808 0.01355 0.136008 0.189261 -0.011172 0.189808 0.135461"/><mesh name="sails_h1" vertex="-0.008914 -0.011745 0.044824 0.006537 -0.04537 0.011199 0.008914 -0.044824 0.011745 -0.006537 -0.011199 0.04537 -0.01355 -0.136008 0.189261 0.011172 -0.189808 0.135461 0.01355 -0.189261 0.136008 -0.011172 -0.135461 0.189808"/><mesh name="sails_h2" vertex="-0.008914 -0.044824 -0.011745 0.006537 -0.011199 -0.04537 0.008914 -0.011745 -0.044824 -0.006537 -0.04537 -0.011199 -0.01355 -0.189261 -0.136008 0.011172 -0.135461 -0.189808 0.01355 -0.136008 -0.189261 -0.011172 -0.189808 -0.135461"/><mesh name="sails_h3" vertex="-0.008914 0.011745 -0.044824 0.006537 0.04537 -0.011199 0.008914 0.044824 -0.011745 -0.006537 0.011199 -0.04537 -0.01355 0.136008 -0.189261 0.011172 0.189808 -0.135461 0.01355 0.189261 -0.136008 -0.011172 0.135461 -0.189808"/></asset>
<size memory="64M"/>
<worldbody>
<body name="tower" pos="0 0 0"></body>
<body name="sails" pos="-0.13 0 0.36"><joint name="j_s" type="hinge" axis="1 0 0" damping="0.003" frictionloss="0"/><inertial pos="0.001840758392 0 0" mass="0.08948373278" fullinertia="0.001367120329 0.0007187785041 0.0007187785041 0 0 0"/><geom name="sails_h0" type="mesh" mesh="sails_h0" contype="0" conaffinity="0" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0" fluidshape="ellipsoid"/><geom name="sails_h1" type="mesh" mesh="sails_h1" contype="0" conaffinity="0" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0" fluidshape="ellipsoid"/><geom name="sails_h2" type="mesh" mesh="sails_h2" contype="0" conaffinity="0" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0" fluidshape="ellipsoid"/><geom name="sails_h3" type="mesh" mesh="sails_h3" contype="0" conaffinity="0" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0" fluidshape="ellipsoid"/></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_s" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
