<mujoco>

	<body name="rocker" pos="0.725 -0.01 0.6">
		<joint name="rocker:joint" type="free" damping="0.01"></joint>
		<geom size="0.025 0.025 0.001" type="box" condim="3" name="rocker" material="block_mat" rgba="1 0 0 1" mass="2000"></geom>

		<body name="rotator" pos="0 0 0.001">

			<body name="H_frame_rotator" pos="0.0189 0 0">
				<body name="V_frame_rotator" pos="-0.0157 0 0.001">
					<geom size="0.015 0.025 0.0015" type="box" contype="0" conaffinity="0" group="1" rgba="0 0 1 1" />
					<body name="hinge_right" pos="0 -0.02 0.015">
						<geom size="0.01 0.0015 0.015" type="box" contype="0" conaffinity="0" group="1" />
					</body>
					<body name="hinge_left" pos="0 0.02 0.015">
						<geom size="0.01 0.0015 0.015" type="box" contype="0" conaffinity="0" group="1" />
						<inertial pos="0 0 0" mass="1" diaginertia="10 10 10" />
						<body name="rocker_plate" pos="0 -0.02 0.015">
							<joint name='rotator' pos="0 0 0" axis="0 1 0" limited="true" range="-1.5 1.5" damping="0.01" margin="0.00001"/>
							<geom size="0.06 0.018 0.002" condim="6" type="box" mass="1" friction="0.01 0.000001 0.000001"/>
							<body name="edge" pos="0.06 0 0.015">
								<geom size="0.002 0.018 0.015" condim="6" type="box" mass="0.01" friction="0.8 0.8 0.8"/>
							</body>
						</body>
					</body>
				</body>

			</body>
		</body>
	</body>
</mujoco>
