<mujoco model="486-vertical-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="0 3 0"/>
<asset><mesh name="sail0_h0" vertex="-0.075 -0.00175 0.0055 0.025 -0.00175 0.0055 0.025 0.00175 0.0055 -0.075 0.00175 0.0055 -0.075 -0.00175 0.0855 0.025 -0.00175 0.0855 0.025 0.00175 0.0855 -0.075 0.00175 0.0855"/><mesh name="sail1_h0" vertex="-0.035984 -0.065827 0.0055 0.014016 0.020776 0.0055 0.010984 0.022526 0.0055 -0.039016 -0.064077 0.0055 -0.035984 -0.065827 0.0855 0.014016 0.020776 0.0855 0.010984 0.022526 0.0855 -0.039016 -0.064077 0.0855"/><mesh name="sail2_h0" vertex="0.039016 -0.064077 0.0055 -0.010984 0.022526 0.0055 -0.014016 0.020776 0.0055 0.035984 -0.065827 0.0055 0.039016 -0.064077 0.0855 -0.010984 0.022526 0.0855 -0.014016 0.020776 0.0855 0.035984 -0.065827 0.0855"/><mesh name="sail3_h0" vertex="0.075 0.00175 0.0055 -0.025 0.00175 0.0055 -0.025 -0.00175 0.0055 0.075 -0.00175 0.0055 0.075 0.00175 0.0855 -0.025 0.00175 0.0855 -0.025 -0.00175 0.0855 0.075 -0.00175 0.0855"/><mesh name="sail4_h0" vertex="0.035984 0.065827 0.0055 -0.014016 -0.020776 0.0055 -0.010984 -0.022526 0.0055 0.039016 0.064077 0.0055 0.035984 0.065827 0.0855 -0.014016 -0.020776 0.0855 -0.010984 -0.022526 0.0855 0.039016 0.064077 0.0855"/><mesh name="sail5_h0" vertex="-0.039016 0.064077 0.0055 0.010984 -0.022526 0.0055 0.014016 -0.020776 0.0055 -0.035984 0.065827 0.0055 -0.039016 0.064077 0.0855 0.010984 -0.022526 0.0855 0.014016 -0.020776 0.0855 -0.035984 0.065827 0.0855"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="rotor" pos="0 0 0"><joint name="j_r" type="hinge" axis="0 0 1" damping="0.004" frictionloss="0"/><inertial pos="0 0 0.0004503926245" mass="0.08390951009" fullinertia="0.0001956135041 0.0001956151946 0.0003850838358 0 0 0"/><body name="sail0" pos="0.12 0 0"><joint name="j_p0" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.02276969949 0 0.04532157596" mass="0.01537130519" fullinertia="0.00000856425719 0.00002099723737 0.00001246773439 0 6.244841432e-8 0"/><geom name="sail0_h0" type="mesh" mesh="sail0_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"/></body>
<body name="sail1" pos="0.06 0.103923 0"><joint name="j_p1" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01138508271 -0.01971941865 0.04532161323" mass="0.01537451703" fullinertia="0.0000178928112 0.00001167489735 0.00001247052221 -0.000005384825657 3.122484608e-8 5.408268241e-8"/><geom name="sail1_h0" type="mesh" mesh="sail1_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"/></body>
<body name="sail2" pos="-0.06 0.103923 0"><joint name="j_p2" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01138508271 -0.01971941865 0.04532161323" mass="0.01537451703" fullinertia="0.0000178928112 0.00001167489735 0.00001247052221 0.000005384825657 -3.122484608e-8 5.408268241e-8"/><geom name="sail2_h0" type="mesh" mesh="sail2_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"/></body>
<body name="sail3" pos="-0.12 0 0"><joint name="j_p3" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02276969949 0 0.04532157596" mass="0.01537130519" fullinertia="0.00000856425719 0.00002099723737 0.00001246773439 0 -6.244841432e-8 0"/><geom name="sail3_h0" type="mesh" mesh="sail3_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"/></body>
<body name="sail4" pos="-0.06 -0.103923 0"><joint name="j_p4" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01138508271 0.01971941865 0.04532161323" mass="0.01537451703" fullinertia="0.0000178928112 0.00001167489735 0.00001247052221 -0.000005384825657 -3.122484608e-8 -5.408268241e-8"/><geom name="sail4_h0" type="mesh" mesh="sail4_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"/></body>
<body name="sail5" pos="0.06 -0.103923 0"><joint name="j_p5" type="hinge" axis="0 0 1" damping="0.0002" frictionloss="0" range="0 3.0543" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01138508271 0.01971941865 0.04532161323" mass="0.01537451703" fullinertia="0.0000178928112 0.00001167489735 0.00001247052221 0.000005384825657 3.122484608e-8 -5.408268241e-8"/><geom name="sail5_h0" type="mesh" mesh="sail5_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"/></body>
</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_r" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
