<mujoco model="253-centrifugal-check-hooks">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="frame_a_h0" vertex="-0.065388 -0.01 0.093383 -0.06197 -0.01 0.116549 -0.090024 -0.01 0.096539 -0.077748 -0.01 0.083374 -0.065388 0.01 0.093383 -0.06197 0.01 0.116549 -0.090024 0.01 0.096539 -0.077748 0.01 0.083374"/><mesh name="frame_a_h1" vertex="-0.048178 -0.01 -0.103319 -0.069949 -0.01 -0.111942 -0.038593 -0.01 -0.126232 -0.03333 -0.01 -0.109019 -0.048178 0.01 -0.103319 -0.069949 0.01 -0.111942 -0.038593 0.01 -0.126232 -0.03333 0.01 -0.109019"/><mesh name="frame_a_h2" vertex="0.113566 -0.01 0.009936 0.13192 -0.01 -0.004607 0.128617 -0.01 0.029694 0.111078 -0.01 0.025644 0.113566 0.01 0.009936 0.13192 0.01 -0.004607 0.128617 0.01 0.029694 0.111078 0.01 0.025644"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame_a" pos="0 0 0"><joint name="j_frame" type="hinge" axis="0 -1 0" damping="1.5" frictionloss="0" stiffness="32" springref="0"/><inertial pos="6.587023531e-8 0.01216793371 7.88790817e-8" mass="3" fullinertia="0.02107779875 0.0420652376 0.02107783495 2.40451397e-9 1.243029821e-8 2.879386311e-9"/><geom name="frame_a_h0" type="mesh" mesh="frame_a_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="frame_a_h1" type="mesh" mesh="frame_a_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="frame_a_h2" type="mesh" mesh="frame_a_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="drum" pos="0 0 0"><joint name="j_drum" type="hinge" axis="0 -1 0" damping="0.0012" frictionloss="0"/><inertial pos="0 0.0002970498053 0" mass="3" fullinertia="0.001803338437 0.00323361403 0.001803338437 0 0 0"/><body name="hook_0" pos="0 0 0.045"><joint name="j_h0" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="0 1.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.004" springref="-25"/><inertial pos="-0.03406303395 0 -0.02802497421" mass="0.05" fullinertia="0.00002790953268 0.00007011145879 0.00004264703957 0 -0.00003402323769 0"/><geom name="hook_0_h0" type="capsule" fromto="0 0 0 -0.076604 0 -0.064279" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_0_h1" type="capsule" fromto="-0.076604 0 -0.064279 -0.090913 0 -0.064786" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 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_1" pos="-0.038971 0 -0.0225"><joint name="j_h1" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="0 1.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.004" springref="-25"/><inertial pos="0.04130170506 0 -0.01548712892" mass="0.05" fullinertia="0.000009497832187 0.00007011132231 0.00006105860392 0 0.00002339331316 0"/><geom name="hook_1_h0" type="capsule" fromto="0 0 0 0.093969 0 -0.034202" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_1_h1" type="capsule" fromto="0.093969 0 -0.034202 0.101563 0 -0.04634" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 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_2" pos="0.038971 0 -0.0225"><joint name="j_h2" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="0 1.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.004" springref="-25"/><inertial pos="-0.007238712316 0 0.04351189765" mass="0.05" fullinertia="0.0000684275993 0.00007011136231 0.000002128876714 0 0.00001062998718 0"/><geom name="hook_2_h0" type="capsule" fromto="0 0 0 -0.017365 0 0.098481" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="hook_2_h1" type="capsule" fromto="-0.017365 0 0.098481 -0.01065 0 0.111126" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.3 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="rope" 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><motor name="drive" joint="j_drum" gear="1" ctrlrange="-0.2 0.2"/></actuator>
</mujoco>
