<mujoco model="278-otis-safety-stop">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="pin_h0" vertex="-0.02 -0.009 0 -0.02 0.003 0 0.02 -0.009 0 0.02 0.003 0 0.02 -0.009 0.005 0.02 0.003 0.005 -0.02 -0.009 0.005 -0.02 0.003 0.005"/><mesh name="uprights_h0" vertex="0.06 -0.015 -0.015 0.06 0.015 -0.015 0.075 -0.015 -0.015 0.075 0.015 -0.015 0.075 -0.015 0.135 0.075 0.015 0.135 0.06 -0.015 0.135 0.06 0.015 0.135"/><mesh name="uprights_h1" vertex="-0.075 -0.015 -0.015 -0.075 0.015 -0.015 -0.06 -0.015 -0.015 -0.06 0.015 -0.015 -0.06 -0.015 0.135 -0.06 0.015 0.135 -0.075 -0.015 0.135 -0.075 0.015 0.135"/><mesh name="uprights_h2" vertex="0.06 -0.006 -0.0148 0.06 0.006 -0.0148 0.06 -0.006 0 0.06 0.006 0 0.055 -0.006 0 0.055 0.006 0"/><mesh name="uprights_h3" vertex="0.06 -0.006 0.0002 0.06 0.006 0.0002 0.06 -0.006 0.015 0.06 0.006 0.015 0.055 -0.006 0.015 0.055 0.006 0.015"/><mesh name="uprights_h4" vertex="0.06 -0.006 0.0152 0.06 0.006 0.0152 0.06 -0.006 0.03 0.06 0.006 0.03 0.055 -0.006 0.03 0.055 0.006 0.03"/><mesh name="uprights_h5" vertex="0.06 -0.006 0.0302 0.06 0.006 0.0302 0.06 -0.006 0.045 0.06 0.006 0.045 0.055 -0.006 0.045 0.055 0.006 0.045"/><mesh name="uprights_h6" vertex="0.06 -0.006 0.0452 0.06 0.006 0.0452 0.06 -0.006 0.06 0.06 0.006 0.06 0.055 -0.006 0.06 0.055 0.006 0.06"/><mesh name="uprights_h7" vertex="0.06 -0.006 0.0602 0.06 0.006 0.0602 0.06 -0.006 0.075 0.06 0.006 0.075 0.055 -0.006 0.075 0.055 0.006 0.075"/><mesh name="uprights_h8" vertex="0.06 -0.006 0.0752 0.06 0.006 0.0752 0.06 -0.006 0.09 0.06 0.006 0.09 0.055 -0.006 0.09 0.055 0.006 0.09"/><mesh name="uprights_h9" vertex="0.06 -0.006 0.0902 0.06 0.006 0.0902 0.06 -0.006 0.105 0.06 0.006 0.105 0.055 -0.006 0.105 0.055 0.006 0.105"/><mesh name="uprights_h10" vertex="-0.055 -0.006 0 -0.055 0.006 0 -0.06 -0.006 0 -0.06 0.006 0 -0.06 -0.006 -0.0148 -0.06 0.006 -0.0148"/><mesh name="uprights_h11" vertex="-0.055 -0.006 0.015 -0.055 0.006 0.015 -0.06 -0.006 0.015 -0.06 0.006 0.015 -0.06 -0.006 0.0002 -0.06 0.006 0.0002"/><mesh name="uprights_h12" vertex="-0.055 -0.006 0.03 -0.055 0.006 0.03 -0.06 -0.006 0.03 -0.06 0.006 0.03 -0.06 -0.006 0.0152 -0.06 0.006 0.0152"/><mesh name="uprights_h13" vertex="-0.055 -0.006 0.045 -0.055 0.006 0.045 -0.06 -0.006 0.045 -0.06 0.006 0.045 -0.06 -0.006 0.0302 -0.06 0.006 0.0302"/><mesh name="uprights_h14" vertex="-0.055 -0.006 0.06 -0.055 0.006 0.06 -0.06 -0.006 0.06 -0.06 0.006 0.06 -0.06 -0.006 0.0452 -0.06 0.006 0.0452"/><mesh name="uprights_h15" vertex="-0.055 -0.006 0.075 -0.055 0.006 0.075 -0.06 -0.006 0.075 -0.06 0.006 0.075 -0.06 -0.006 0.0602 -0.06 0.006 0.0602"/><mesh name="uprights_h16" vertex="-0.055 -0.006 0.09 -0.055 0.006 0.09 -0.06 -0.006 0.09 -0.06 0.006 0.09 -0.06 -0.006 0.0752 -0.06 0.006 0.0752"/><mesh name="uprights_h17" vertex="-0.055 -0.006 0.105 -0.055 0.006 0.105 -0.06 -0.006 0.105 -0.06 0.006 0.105 -0.06 -0.006 0.0902 -0.06 0.006 0.0902"/></asset>
<size memory="64M"/>
<worldbody>
<body name="platform" pos="0 0 0"><joint name="j_p" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.22 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.0006729612388 -0.009380944711" mass="0.5" fullinertia="0.0002146180665 0.000564392214 0.0005814110709 0 0 -0.00001459684715"/><body name="pin" pos="0 0 0.0178"><joint name="j_b" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="-0.012 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="150" springref="-0.025"/><inertial pos="0 -0.003 0.01049020742" mass="0.05" fullinertia="0.00001014204712 0.00001443392044 0.000005176537448 0 0 0"/><geom name="pin_h0" type="mesh" mesh="pin_h0" contype="8" conaffinity="16" 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="pin_h1" type="capsule" fromto="-0.009 -0.003 0.0422 0.009 -0.003 0.0422" size="0.0025" 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="lever_r" pos="0.045 0 0.015"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="-0.45 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.1"/><inertial pos="-0.007450745676 -0.007009022479 -0.006857514401" mass="0.008861568831" fullinertia="9.877463398e-7 0.000002368229797 0.000001655645625 2.204082433e-8 7.289698708e-7 1.436593744e-7"/><geom name="lever_r_h0" type="capsule" fromto="-0.03 -0.009 0 -0.03 0.003 0" size="0.002" 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="lever_r_h1" type="capsule" fromto="0.0055 -0.006 -0.025 0.0055 0.006 -0.025" size="0.002" 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="lever_l" pos="-0.045 0 0.015"><joint name="j_l" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.45 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.1"/><inertial pos="0.007450745676 -0.007009022479 -0.006857514401" mass="0.008861568831" fullinertia="9.877463398e-7 0.000002368229797 0.000001655645625 -2.204082433e-8 -7.289698708e-7 1.436593744e-7"/><geom name="lever_l_h0" type="capsule" fromto="0.03 -0.009 0 0.03 0.003 0" size="0.002" 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="lever_l_h1" type="capsule" fromto="-0.0055 -0.006 -0.025 -0.0055 0.006 -0.025" size="0.002" 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 0.06"><joint name="j_rope" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.3 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.01 0.181" mass="0.2" fullinertia="0.0016856 0.0016856 4e-7 0 0 0"/><body name="stirrup" pos="0 0 0"><joint name="j_break" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.4 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0.25"/><inertial pos="0 -0.005765370168 -0.0001605766126" mass="0.05" fullinertia="0.00000393259505 0.000004192330164 0.000002443488823 0 0 0.000001024658332"/><geom name="stirrup_h0" type="capsule" fromto="-0.006 -0.01 -0.005 -0.006 0.004 -0.005" size="0.0025" contype="8" conaffinity="16" 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="stirrup_h1" type="capsule" fromto="0.006 -0.01 -0.005 0.006 0.004 -0.005" size="0.0025" contype="8" conaffinity="16" 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="uprights" pos="0 0 0"><geom name="uprights_h0" type="mesh" mesh="uprights_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="uprights_h1" type="mesh" mesh="uprights_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="uprights_h2" type="mesh" mesh="uprights_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="uprights_h3" type="mesh" mesh="uprights_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"/><geom name="uprights_h4" type="mesh" mesh="uprights_h4" 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="uprights_h5" type="mesh" mesh="uprights_h5" 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="uprights_h6" type="mesh" mesh="uprights_h6" 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="uprights_h7" type="mesh" mesh="uprights_h7" 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="uprights_h8" type="mesh" mesh="uprights_h8" 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="uprights_h9" type="mesh" mesh="uprights_h9" 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="uprights_h10" type="mesh" mesh="uprights_h10" 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="uprights_h11" type="mesh" mesh="uprights_h11" 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="uprights_h12" type="mesh" mesh="uprights_h12" 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="uprights_h13" type="mesh" mesh="uprights_h13" 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="uprights_h14" type="mesh" mesh="uprights_h14" 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="uprights_h15" type="mesh" mesh="uprights_h15" 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="uprights_h16" type="mesh" mesh="uprights_h16" 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="uprights_h17" type="mesh" mesh="uprights_h17" 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>
<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_rope" kv="5000" forcerange="-80 80"/></actuator>
</mujoco>
