<mujoco model="468-flexible-water-main">
<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="f1_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="f2_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="f3_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="f4_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="f5_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="f6_h0" vertex="-0.0885 -0.02 0.005 -0.0015 -0.02 0.005 -0.0015 0.02 0.005 -0.0885 0.02 0.005 -0.0885 -0.02 -0.005 -0.0015 -0.02 -0.005 -0.0015 0.02 -0.005 -0.0885 0.02 -0.005"/><mesh name="frame_h0" vertex="-0.88 -0.06 0 -0.88 -0.06 0.12 -0.3 -0.06 0.12 -0.3 -0.06 0 -0.88 0.1 0 -0.88 0.1 0.12 -0.3 0.1 0.12 -0.3 0.1 0"/><mesh name="frame_h1" vertex="-0.3 -0.06 0 -0.3 -0.06 0.12 -0.15 -0.06 0 -0.3 0.1 0 -0.3 0.1 0.12 -0.15 0.1 0"/><mesh name="frame_h2" vertex="-0.16 -0.06 -0.03 -0.16 -0.06 0 0.16 -0.06 0 0.16 -0.06 -0.03 -0.16 0.1 -0.03 -0.16 0.1 0 0.16 0.1 0 0.16 0.1 -0.03"/><mesh name="frame_h3" vertex="0.15 -0.06 0 0.3 -0.06 0.12 0.3 -0.06 0 0.15 0.1 0 0.3 0.1 0.12 0.3 0.1 0"/><mesh name="frame_h4" vertex="0.3 -0.06 0 0.3 -0.06 0.12 1.42 -0.06 0.12 1.42 -0.06 0 0.3 0.1 0 0.3 0.1 0.12 1.42 0.1 0.12 1.42 0.1 0"/></asset>
<size memory="64M"/>
<worldbody>
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</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="carriage" pos="0.58 0 0.14"><joint name="j_c" type="slide" axis="1 0 0" damping="0.1" frictionloss="0" range="-0.01 1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.0007315530765" mass="1" fullinertia="0.0002804435526 0.000385428912 0.000544061255 0 0 0"/><site name="haul_b" pos="-0.03 0 0.002" size="0.007"/></body>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" 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"/><geom name="frame_h2" type="mesh" mesh="frame_h2" 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"/><geom name="frame_h3" type="mesh" mesh="frame_h3" 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"/><geom name="frame_h4" type="mesh" mesh="frame_h4" 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>
<geom name="haul_over" type="cylinder" fromto="0.52 -0.01 0.15 0.52 0.01 0.15" size="0.015" contype="0" conaffinity="0" group="3" mass="0"/><site name="haul_side" pos="0.52 0 0.175" size="0.007"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="haul" limited="true" range="0 0.8599461905" width="0.0035" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="haul_a"/><geom geom="haul_over" sidesite="haul_side"/><site site="haul_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_c" kv="3000" forcerange="-400 400"/></actuator>
</mujoco>
