<mujoco model="360-beam-drum-pawl-ratchet">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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<size memory="64M"/>
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<body name="cord_l062" pos="0.004131098211 0 0" quat="0.9988455727 0 -0.0480366728 0"><joint name="cord_l062_s" type="slide" axis="0.9953849561 0 -0.0959624359" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002065548506 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.006508318e-10 6.006508318e-10"/><geom name="cord_l062_c" type="capsule" fromto="0 0 0 0.004131097011 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="cord_l064" pos="0.004131097841 0 0" quat="0.9988452783 0 -0.04804279437 0"><joint name="cord_l064_s" type="slide" axis="0.9953837798 0 -0.09597463663" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002065549162 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.006509797e-10 6.006509797e-10"/><geom name="cord_l064_c" type="capsule" fromto="0 0 0 0.004131098325 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_l065" pos="0.004131098325 0 0" quat="0.9988456782 0 -0.04803447914 0"><joint name="cord_l065_s" type="slide" axis="0.9953853776 0 -0.09595806379" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00206554843 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.006508147e-10 6.006508147e-10"/><geom name="cord_l065_c" type="capsule" fromto="0 0 0 0.00413109686 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_l066" pos="0.00413109686 0 0" quat="0.9995807486 0 -0.02895387836 0"><joint name="cord_l066_s" type="slide" axis="0.9983233459 0 -0.05788347882" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00206634106 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.008293805e-10 6.008293805e-10"/><geom name="cord_l066_c" type="capsule" fromto="0 0 0 0.004132682121 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_l067" pos="0.004132682121 0 0" quat="0.9999999656 0 -0.0002622765701 0"><joint name="cord_l067_s" type="slide" axis="0.9999998624 0 -0.0005245531222" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002066344885 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.008302423e-10 6.008302423e-10"/><geom name="cord_l067_c" type="capsule" fromto="0 0 0 0.004132689769 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_l068" pos="0.004132689769 0 0" quat="1 0 0 0"><joint name="cord_l068_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002066344885 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.008302423e-10 6.008302423e-10"/><geom name="cord_l068_c" type="capsule" fromto="0 0 0 0.004132689769 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_l069" pos="0.004132689769 0 0" quat="1 0 0 0"><joint name="cord_l069_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0003488375" damping="12"/><joint name="cord_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002066344885 0 0" mass="0.0001635686496" diaginertia="7.360589231e-10 6.008302423e-10 6.008302423e-10"/><geom name="cord_l069_c" type="capsule" fromto="0 0 0 0.004132689769 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="arm_pin" body1="drum" body2="drum_arm" anchor="0 -0.013 0.02" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="cord_eyeA" body1="cord_l000" body2="beam" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord_eyeB" body1="cord_l069" body2="drum" anchor="0.004132689769 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="drum" body2="drum_arm"/><exclude body1="cord_l000" body2="beam"/><exclude body1="cord_l069" body2="drum"/></contact>
<actuator><velocity name="drive" joint="j_beam" kv="5000" forcerange="-200 200"/></actuator>
</mujoco>
