<mujoco model="251-releasing-hook">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="slot_h0" vertex="-0.046 -0.012 0.2 -0.046 0.012 0.2 -0.035 -0.012 0.2 -0.035 0.012 0.2 -0.0075 -0.012 0.245 -0.0075 0.012 0.245 -0.046 -0.012 0.245 -0.046 0.012 0.245"/><mesh name="slot_h1" vertex="-0.046 -0.012 0.245 -0.046 0.012 0.245 -0.0075 -0.012 0.245 -0.0075 0.012 0.245 -0.0075 -0.012 0.3 -0.0075 0.012 0.3 -0.046 -0.012 0.3 -0.046 0.012 0.3"/><mesh name="slot_h2" vertex="0.035 -0.012 0.2 0.035 0.012 0.2 0.046 -0.012 0.2 0.046 0.012 0.2 0.046 -0.012 0.245 0.046 0.012 0.245 0.0075 -0.012 0.245 0.0075 0.012 0.245"/><mesh name="slot_h3" vertex="0.0075 -0.012 0.245 0.0075 0.012 0.245 0.046 -0.012 0.245 0.046 0.012 0.245 0.046 -0.012 0.3 0.046 0.012 0.3 0.0075 -0.012 0.3 0.0075 0.012 0.3"/><mesh name="pile_h0" vertex="-0.026 -0.026 -0.04 -0.026 0.026 -0.04 0.026 -0.026 -0.04 0.026 0.026 -0.04 0.026 -0.026 0 0.026 0.026 0 -0.026 -0.026 0 -0.026 0.026 0"/><mesh name="weight_h0" vertex="-0.034 -0.022 -0.0299 -0.034 0.022 -0.0299 0.034 -0.022 -0.0299 0.034 0.022 -0.0299 0.034 -0.022 0.03 0.034 0.022 0.03 -0.034 -0.022 0.03 -0.034 0.022 0.03"/><mesh name="weight_h1" vertex="-0.003 -0.004 0.03 -0.003 0.004 0.03 0.003 -0.004 0.03 0.003 0.004 0.03 0.003 -0.004 0.04 0.003 0.004 0.04 -0.003 -0.004 0.04 -0.003 0.004 0.04"/><mesh name="weight_h2" vertex="-0.008 -0.004 0.04 -0.008 0.004 0.04 0.008 -0.004 0.04 0.008 0.004 0.04 0.008 -0.004 0.043 0.008 0.004 0.043 0.003 -0.004 0.048 0.003 0.004 0.048 -0.003 -0.004 0.048 -0.003 0.004 0.048 -0.008 -0.004 0.043 -0.008 0.004 0.043"/><mesh name="hook_l_h0" vertex="-0.003 -0.005 -0.022 -0.003 0.005 -0.022 0.003 -0.005 -0.022 0.003 0.005 -0.022 0.003 -0.005 0.003 0.003 0.005 0.003 -0.003 -0.005 0.003 -0.003 0.005 0.003"/><mesh name="hook_l_h1" vertex="-0.003 -0.005 -0.022 -0.003 0.005 -0.022 0.0092 -0.005 -0.022 0.0092 0.005 -0.022 0.0092 -0.005 -0.0165 0.0092 0.005 -0.0165 -0.003 -0.005 -0.0165 -0.003 0.005 -0.0165"/><mesh name="hook_r_h0" vertex="-0.003 -0.005 -0.022 -0.003 0.005 -0.022 0.003 -0.005 -0.022 0.003 0.005 -0.022 0.003 -0.005 0.003 0.003 0.005 0.003 -0.003 -0.005 0.003 -0.003 0.005 0.003"/><mesh name="hook_r_h1" vertex="-0.0092 -0.005 -0.022 -0.0092 0.005 -0.022 0.003 -0.005 -0.022 0.003 0.005 -0.022 0.003 -0.005 -0.0165 0.003 0.005 -0.0165 -0.0092 -0.005 -0.0165 -0.0092 0.005 -0.0165"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="slot" pos="0 0 0"><geom name="slot_h0" type="mesh" mesh="slot_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slot_h1" type="mesh" mesh="slot_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slot_h2" type="mesh" mesh="slot_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slot_h3" type="mesh" mesh="slot_h3" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="pile" pos="0 0 0"><geom name="pile_h0" type="mesh" mesh="pile_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="weight" pos="0 0 0.03"><joint name="j_w" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 0 0.0003409524527" mass="1" fullinertia="0.0004688450927 0.0006912715397 0.0005428394178 0 0 0"/><geom name="weight_h0" type="mesh" mesh="weight_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="weight_h1" type="mesh" mesh="weight_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="weight_h2" type="mesh" mesh="weight_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="crosshead" pos="0 0 0.086"><joint name="j_lift" type="slide" axis="0 0 1" damping="0.1" frictionloss="0"/><inertial pos="0 0 0.07689795392" mass="0.3" fullinertia="0.002425839862 0.002436701132 0.00002578407199 0 0 0"/><body name="hook_l" pos="-0.013 0 0"><joint name="j_hl" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" stiffness="0.2" springref="-0.1"/><inertial pos="-0.003639697305 0 0.005778304936" mass="0.1" fullinertia="0.00005641545445 0.00005986783383 0.000004683253833 0 0.00001343275211 0"/><geom name="hook_l_h0" type="mesh" mesh="hook_l_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_l_h1" type="mesh" mesh="hook_l_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_l_h2" type="capsule" fromto="0 0 0 -0.015 0 0.034" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_l_h3" type="capsule" fromto="-0.015 0 0.034 -0.011 0 0.059" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="hook_r" pos="0.013 0 0"><joint name="j_hr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" stiffness="0.2" springref="0.1"/><inertial pos="0.003639697305 0 0.005778304936" mass="0.1" fullinertia="0.00005641545445 0.00005986783383 0.000004683253833 0 -0.00001343275211 0"/><geom name="hook_r_h0" type="mesh" mesh="hook_r_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_r_h1" type="mesh" mesh="hook_r_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_r_h2" type="capsule" fromto="0 0 0 0.015 0 0.034" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_r_h3" type="capsule" fromto="0.015 0 0.034 0.011 0 0.059" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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_lift" kv="20000" forcerange="-80 80"/></actuator>
</mujoco>
