<mujoco model="447-flying-ferry">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="boat_h0" vertex="-0.02819 0.01026 -0.006 -0.009393 0.015125 -0.006 0.088335 -0.020445 -0.006 0.08081 -0.041119 -0.006 -0.016918 -0.005549 -0.006 -0.02819 0.01026 0.006 -0.009393 0.015125 0.006 0.088335 -0.020445 0.006 0.08081 -0.041119 0.006 -0.016918 -0.005549 0.006"/><mesh name="boat_h1" vertex="0.08562 -0.029943 -0.006 0.133916 -0.017002 -0.006 0.134641 -0.019706 -0.006 0.086345 -0.032647 -0.006 0.08562 -0.029943 0.006 0.133916 -0.017002 0.006 0.134641 -0.019706 0.006 0.086345 -0.032647 0.006"/><mesh name="frame_h0" vertex="-0.72 -0.192 -0.015 -0.72 -0.18 -0.015 0.42 -0.192 -0.015 0.42 -0.18 -0.015 0.42 -0.192 0.016 0.42 -0.18 0.016 -0.72 -0.192 0.016 -0.72 -0.18 0.016"/><mesh name="frame_h1" vertex="-0.72 0.18 -0.015 -0.72 0.192 -0.015 0.42 0.18 -0.015 0.42 0.192 -0.015 0.42 0.18 0.016 0.42 0.192 0.016 -0.72 0.18 0.016 -0.72 0.192 0.016"/><mesh name="frame_h2" vertex="-0.67 -0.192 -0.015 -0.67 0.192 -0.015 -0.662 -0.192 -0.015 -0.662 0.192 -0.015 -0.662 -0.192 0.016 -0.662 0.192 0.016 -0.67 -0.192 0.016 -0.67 0.192 0.016"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cable" pos="-0.5 0 0"><joint name="j_c" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.1691445 -0.0615635 0.012" mass="0.0004885799346" fullinertia="6.175810297e-7 0.000004659597946 0.000005276827199 0.000001695825176 0 0"/><body name="boat" pos="0.338289 -0.123127 0"><joint name="j_b" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.03465821062 -0.01202773132 0.003509132336" mass="0.0196526219" fullinertia="0.000003539829611 0.00002026883833 0.00002197798367 0.000005856965648 2.60761887e-7 -5.445275335e-8"/><geom name="boat_h0" type="mesh" mesh="boat_h0" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.003 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="boat_h1" type="mesh" mesh="boat_h1" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.003 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.003 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.003 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h2" type="mesh" mesh="frame_h2" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.003 1" solimp="0.95 0.99 0.0005" 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></equality>

<actuator><motor name="drive" joint="j_c" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
