<mujoco model="352-chinese-windlass-another-arrangement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0.12"><body name="sheave_ta" pos="-0.08 -0.18 0.58"><joint name="j_ta" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.00004 0.000048 0.00004"/><geom name="sheave_ta_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_ta_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.025" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_ta_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.025" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="sheave_tb" pos="0.04 0.18 0.58"><joint name="j_tb" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.00004 0.000048 0.00004"/><geom name="sheave_tb_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_tb_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.025" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_tb_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.025" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
</body>
<body name="barrel" pos="0 0 0.12" quat="1 0 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.05337306249 0.01243152951" mass="4.036917392" fullinertia="0.1524341497 0.01619838679 0.1437249442 0 0 0.009867734201"/><body name="drum_a_w" pos="0 -0.18 0" quat="1 0 0 0"><geom name="drum_a_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.1" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_a_w_flangeL" type="cylinder" fromto="0 -0.007 0 0 -0.0091 0" size="0.106" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_a_w_flangeR" type="cylinder" fromto="0 0.007 0 0 0.0091 0" size="0.106" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="drum_b_w" pos="0 0.18 0" quat="1 0 0 0"><geom name="drum_b_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.06" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_b_w_flangeL" type="cylinder" fromto="0 -0.007 0 0 -0.0091 0" size="0.066" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_b_w_flangeR" type="cylinder" fromto="0 0.007 0 0 0.0091 0" size="0.066" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<geom name="axle" type="capsule" fromto="0 -0.33 0 0 0.33 0" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="handspike" type="capsule" fromto="0 -0.25 -0.06 0 -0.25 0.26" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="block" pos="-0.02 0 0.5"><joint name="j_block" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.16 0.16" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.02998601779" mass="0.6" fullinertia="0.01052258378 0.0006053265404 0.009921455105 0 0 0"/><body name="sheave_a" pos="0 -0.18 0"><joint name="j_sa" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001733333333 0.000256 0.0001733333333"/><geom name="sheave_a_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.04" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_a_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.045" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_a_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.045" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="sheave_b" pos="0 0.18 0"><joint name="j_sb" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001733333333 0.000256 0.0001733333333"/><geom name="sheave_b_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.04" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_b_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.045" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_b_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.045" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="bell" pos="0 0 -0.14"><inertial pos="0 0 0" mass="10" diaginertia="0.03325 0.03433333333 0.03325"/><geom name="bell_g" type="box" size="0.06 0.06 0.07" contype="0" conaffinity="0" group="2" mass="0"/></body>
</body>
<body name="rope_a_cp1" pos="0 -0.18 0.12"><joint name="rope_a_cs0" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03134804751" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_a_cp2" pos="-0.08 -0.18 0.7"><joint name="rope_a_cs1" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03698726507" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_a_cp3" pos="-0.02 -0.18 0.5"><joint name="rope_a_cs2" type="slide" axis="1 0 0" damping="0" armature="0.006485142241"/><inertial pos="0 0 0" mass="0.01405188939" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_b_cp1" pos="0 0.18 0.12"><joint name="rope_b_cs0" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.02766781491" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_b_cp2" pos="0.04 0.18 0.7"><joint name="rope_b_cs1" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03524101454" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_b_cp3" pos="-0.02 0.18 0.5"><joint name="rope_b_cs2" type="slide" axis="1 0 0" damping="0" armature="0.004820024357"/><inertial pos="0 0 0" mass="0.01405188939" diaginertia="1e-6 1e-6 1e-6"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_sheave" body1="sheave_a" body2="sheave_b" anchor="0.016 0.18 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="sheave_a" body2="sheave_b"/></contact>
<tendon><fixed name="rope_a_slip0" frictionloss="37.54589384" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_a_cs0" coef="1"/><joint joint="j_a" coef="-0.1039997798"/></fixed><fixed name="rope_a_slip1" frictionloss="42.96234753" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_a_cs1" coef="1"/><joint joint="j_ta" coef="-0.0239994405"/></fixed><fixed name="rope_a_slip2" frictionloss="43.82973811" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_a_cs2" coef="1"/><joint joint="j_sa" coef="0.04399967773"/></fixed><fixed name="rope_a_span0" stiffness="4811.461348" springlength="0.01121384879" damping="1.443438404"><joint joint="rope_a_cs0" coef="-1"/><joint joint="j_a" coef="0"/></fixed><fixed name="rope_a_span1" stiffness="965.9121189" springlength="0.05585911901" damping="0.2897736357"><joint joint="rope_a_cs0" coef="1"/><joint joint="rope_a_cs1" coef="-1"/></fixed><fixed name="rope_a_span2" stiffness="2317.690286" springlength="0.02327964195" damping="0.6953070858"><joint joint="rope_a_cs1" coef="1"/><joint joint="rope_a_cs2" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_a_span3" stiffness="7950.825527" springlength="0.006786087786" damping="2.385247658"><joint joint="rope_a_cs2" coef="1"/><joint joint="j_block" coef="0"/><joint joint="j_sa" coef="0"/></fixed><fixed name="rope_b_slip0" frictionloss="37.02056809" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_b_cs0" coef="1"/><joint joint="j_a" coef="0.0639997779"/></fixed><fixed name="rope_b_slip1" frictionloss="42.96234753" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_b_cs1" coef="1"/><joint joint="j_tb" coef="0.023999515"/></fixed><fixed name="rope_b_slip2" frictionloss="43.82973811" solreffriction="0.002 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_b_cs2" coef="1"/><joint joint="j_sb" coef="-0.04399973234"/></fixed><fixed name="rope_b_span0" stiffness="7006.979249" springlength="0.00770017979" damping="2.102093775"><joint joint="rope_b_cs0" coef="-1"/><joint joint="j_a" coef="0"/></fixed><fixed name="rope_b_span1" stiffness="951.2226949" springlength="0.05672173329" damping="0.2853668085"><joint joint="rope_b_cs0" coef="1"/><joint joint="rope_b_cs1" coef="-1"/></fixed><fixed name="rope_b_span2" stiffness="2129.774738" springlength="0.02533366512" damping="0.6389324215"><joint joint="rope_b_cs1" coef="1"/><joint joint="rope_b_cs2" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_b_span3" stiffness="7306.182133" springlength="0.007384841907" damping="2.19185464"><joint joint="rope_b_cs2" coef="1"/><joint joint="j_block" coef="0"/><joint joint="j_sb" coef="0"/></fixed></tendon>
<actuator><velocity name="drive" joint="j_a" kv="200" forcerange="-50 50"/></actuator>
</mujoco>
