<mujoco model="206-lever-double-pawl">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
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<body name="hook_r" pos="-0.065 0 -0.013"><joint name="j_hr" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.9 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02745008083 0 -0.02187752892" mass="0.008832691947" fullinertia="0.000001390222815 0.000003189553914 0.0000018202064 0 0.000001507417298 0"/><geom name="hook_r_h0" type="capsule" fromto="0.038753 0 -0.039985 0.032542 0 -0.043214" size="0.0015" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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><velocity name="drive" joint="j_lever" kv="20" forcerange="-40 40"/></actuator>
</mujoco>
