<mujoco model="387-self-adjusting-step-ladder">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="boat_h0" vertex="-0.22 -0.14 -0.03 -0.22 0.14 -0.03 0.22 -0.14 -0.03 0.22 0.14 -0.03 0.22 -0.14 0 0.22 0.14 0 -0.22 -0.14 0 -0.22 0.14 0"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wharf" pos="0 0 0"></body>
<body name="stringer" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="-0.489898 0 -0.1" mass="0.9650973605" fullinertia="0.01501573108 0.08048656249 0.08894971999 0 -0.0157478719 0"/><body name="post" pos="-0.979796 0 -0.2"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0.1361711911" mass="4.558777689" fullinertia="0.1074800321 0.07935109712 0.03081410071 0 0 0"/><geom name="post_h0" type="capsule" fromto="0 -0.12 -0.085 0 0.12 -0.085" size="0.015" contype="8" conaffinity="16" condim="3" friction="0.03 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="step0" pos="-0.137171 0 -0.028"><joint name="j_t0" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
<body name="step1" pos="-0.264545 0 -0.054"><joint name="j_t1" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
<body name="step2" pos="-0.391918 0 -0.08"><joint name="j_t2" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
<body name="step3" pos="-0.519292 0 -0.106"><joint name="j_t3" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
<body name="step4" pos="-0.646665 0 -0.132"><joint name="j_t4" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
<body name="step5" pos="-0.774039 0 -0.158"><joint name="j_t5" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.042 0 0.0015" mass="0.162432" fullinertia="0.000481461984 0.000127793376 0.00060316416 0 0 0"/></body>
</body>
<body name="rail" pos="0 0 0.3"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="-0.489898 0 -0.1" mass="0.6371150544" fullinertia="0.009885568504 0.05311985001 0.05870630205 0 -0.01039877151 0"/><body name="rod0" pos="-0.137171 0 -0.028"><joint name="j_q0" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
<body name="rod1" pos="-0.264545 0 -0.054"><joint name="j_q1" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
<body name="rod2" pos="-0.391918 0 -0.08"><joint name="j_q2" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
<body name="rod3" pos="-0.519292 0 -0.106"><joint name="j_q3" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
<body name="rod4" pos="-0.646665 0 -0.132"><joint name="j_q4" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
<body name="rod5" pos="-0.774039 0 -0.158"><joint name="j_q5" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.041 0 -0.15" mass="0.3086502427" fullinertia="0.004706735465 0.002489386381 0.002566150959 0 -0.0006323355933 0"/></body>
</body>
<body name="boat" pos="-0.979796 0 -0.3"><joint name="j_b" type="slide" axis="0 0 1" damping="1" frictionloss="0"/><inertial pos="-0.1686393133 0.1203981732 -0.04440017433" mass="8.0052492" fullinertia="0.4823584675 3.122309241 3.600892696 0.03996245807 -0.007559763136 0.00539720931"/><geom name="boat_h0" type="mesh" mesh="boat_h0" contype="16" conaffinity="8" condim="3" friction="0.03 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" 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><connect name="p_rail" body1="rail" body2="post" anchor="-0.979796 0 -0.2" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod0" body1="rod0" body2="step0" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod1" body1="rod1" body2="step1" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod2" body1="rod2" body2="step2" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod3" body1="rod3" body2="step3" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod4" body1="rod4" body2="step4" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod5" body1="rod5" body2="step5" anchor="-0.082 0 -0.3" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rail" body2="post"/><exclude body1="rod0" body2="step0"/><exclude body1="rod1" body2="step1"/><exclude body1="rod2" body2="step2"/><exclude body1="rod3" body2="step3"/><exclude body1="rod4" body2="step4"/><exclude body1="rod5" body2="step5"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="200000" forcerange="-3000 3000"/></actuator>
</mujoco>
