<mujoco model="386-folding-library-ladder">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="side_l_h0" vertex="0 -0.06 0 -0.018541 -0.057063 0 -0.035267 -0.048541 0 -0.048541 -0.035267 0 -0.057063 -0.018541 0 -0.06 0 0 -0.057063 0.018541 0 -0.048541 0.035267 0 -0.035267 0.048541 0 -0.018541 0.057063 0 0 0.06 0 0 -0.06 1.14 -0.018541 -0.057063 1.14 -0.035267 -0.048541 1.14 -0.048541 -0.035267 1.14 -0.057063 -0.018541 1.14 -0.06 0 1.14 -0.057063 0.018541 1.14 -0.048541 0.035267 1.14 -0.035267 0.048541 1.14 -0.018541 0.057063 1.14 0 0.06 1.14"/><mesh name="side_r_h0" vertex="0 -0.06 -0.1 0.018541 -0.057063 -0.1 0.035267 -0.048541 -0.1 0.048541 -0.035267 -0.1 0.057063 -0.018541 -0.1 0.06 0 -0.1 0.057063 0.018541 -0.1 0.048541 0.035267 -0.1 0.035267 0.048541 -0.1 0.018541 0.057063 -0.1 0 0.06 -0.1 0 -0.06 1.04 0.018541 -0.057063 1.04 0.035267 -0.048541 1.04 0.048541 -0.035267 1.04 0.057063 -0.018541 1.04 0.06 0 1.04 0.057063 0.018541 1.04 0.048541 0.035267 1.04 0.035267 0.048541 1.04 0.018541 0.057063 1.04 0 0.06 1.04"/></asset>
<size memory="64M"/>
<worldbody>
<body name="side_l" pos="0 0 0"><geom name="side_l_h0" type="mesh" mesh="side_l_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="round0" pos="0 0 0.1"><joint name="j_0" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0.097539 0 0.10043" mass="0.09662920894" fullinertia="0.0003309376257 0.00063539475 0.0003126222925 0 -0.0003134810588 0"/><body name="side_r" pos="0.195078 0 0.20086"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0.02522253804 0 0.4699743492" mass="3.809479629" fullinertia="0.4159578083 0.413533915 0.00431344191 0 -0.000002464647996 0"/><geom name="side_r_h0" type="mesh" mesh="side_r_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
</body>
<body name="round1" pos="0 0 0.4"><joint name="j_1" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0.097539 0 0.10043" mass="0.09662920894" fullinertia="0.0003309376257 0.00063539475 0.0003126222925 0 -0.0003134810588 0"/></body>
<body name="round2" pos="0 0 0.7"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0.097539 0 0.10043" mass="0.09662920894" fullinertia="0.0003309376257 0.00063539475 0.0003126222925 0 -0.0003134810588 0"/></body>
<body name="round3" pos="0 0 1"><joint name="j_3" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0.097539 0 0.10043" mass="0.09662920894" fullinertia="0.0003309376257 0.00063539475 0.0003126222925 0 -0.0003134810588 0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_1" body1="side_r" body2="round1" anchor="0 0 0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_2" body1="side_r" body2="round2" anchor="0 0 0.6" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_3" body1="side_r" body2="round3" anchor="0 0 0.9" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="side_r" body2="round1"/><exclude body1="side_r" body2="round2"/><exclude body1="side_r" body2="round3"/></contact>
<actuator><velocity name="drive" joint="j_0" kv="3000" forcerange="-60 60"/></actuator>
</mujoco>
