<mujoco model="315-conical-pendulum">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="spindle_h0" vertex="-0.01 0.0042 0.16 -0.01 0.0072 0.16 0.34 0.0042 0.16 0.34 0.0072 0.16 0.34 0.0042 0.186 0.34 0.0072 0.186 -0.01 0.0042 0.186 -0.01 0.0072 0.186"/><mesh name="spindle_h1" vertex="-0.01 -0.0072 0.16 -0.01 -0.0042 0.16 0.34 -0.0072 0.16 0.34 -0.0042 0.16 0.34 -0.0072 0.186 0.34 -0.0042 0.186 -0.01 -0.0072 0.186 -0.01 -0.0042 0.186"/><mesh name="pendulum_h0" vertex="0.0176768 -0.003 -0.3946157 0.0176768 0.003 -0.3946157 0.0252655 -0.003 -0.539417 0.0252655 0.003 -0.539417 0.0312573 -0.003 -0.5391029 0.0312573 0.003 -0.5391029 0.0236686 -0.003 -0.3943017 0.0236686 0.003 -0.3943017"/></asset>
<size memory="64M"/>
<worldbody>
<body name="spindle" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0.1109189294 0 0.1443492979" mass="0.4" fullinertia="0.001024786117 0.007286953956 0.006283080904 0 -0.00127116208 0"/><geom name="spindle_h0" type="mesh" mesh="spindle_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="spindle_h1" type="mesh" mesh="spindle_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"/></body>
<body name="gimbal" pos="0 0 0.6"><joint name="j_px" type="hinge" axis="1 0 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0 0" mass="0.01" fullinertia="3.125e-8 2.289583333e-7 2.289583333e-7 0 0 0"/><body name="pendulum" pos="0 0 0"><joint name="j_py" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0.01715747589 0 -0.3273837666" mass="0.5" fullinertia="0.003100254303 0.003108432774 0.0001307348423 0 0.0001560545308 0"/><geom name="pendulum_h0" type="mesh" mesh="pendulum_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>
<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_s" kv="20" forcerange="-5 5"/></actuator>
</mujoco>
