<mujoco model="479-gasometer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="bell" pos="0 0 0.56"><joint name="j_a" type="slide" axis="0 0 1" damping="20" frictionloss="0" range="-0.12 0.1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.1022830299 -0.1018685741" mass="6" fullinertia="0.078092077 0.1410209919 0.09681013412 0 0 0.004358847551"/><site name="chain_l_a" pos="-0.16 0 0.016" size="0.008"/><site name="chain_r_a" pos="0.16 0 0.016" size="0.008"/></body>
<body name="cock" pos="0.34 0 0.055"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.01841088789 0.04363239069" mass="0.3" fullinertia="0.0003922738021 0.000390632423 0.000009503324496 0 0 0.00002080102819"/></body>
<body name="weight_l" pos="-0.272 0 0.5"><joint name="j_wl" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.4 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.03483883012" mass="2" fullinertia="0.001024212024 0.001024166105 0.0003983569021 0 0 0"/><site name="chain_l_b" pos="0 0 0.002" size="0.008"/></body>
<body name="weight_r" pos="0.272 0 0.5"><joint name="j_wr" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.4 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.03483883012" mass="2" fullinertia="0.001024212024 0.001024166105 0.0003983569021 0 0 0"/><site name="chain_r_b" pos="0 0 0.002" size="0.008"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="chain_l_over" type="cylinder" fromto="-0.25 -0.01 0.82 -0.25 0.01 0.82" size="0.022" contype="0" conaffinity="0" group="3" mass="0"/><site name="chain_l_side" pos="-0.25 0 0.862" size="0.008"/>
<geom name="chain_r_over" type="cylinder" fromto="0.25 -0.01 0.82 0.25 0.01 0.82" size="0.022" contype="0" conaffinity="0" group="3" mass="0"/><site name="chain_r_side" pos="0.25 0 0.862" size="0.008"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="chain_l" limited="true" range="0 0.6403411935" width="0.004" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="chain_l_a"/><geom geom="chain_l_over" sidesite="chain_l_side"/><site site="chain_l_b"/></spatial><spatial name="chain_r" limited="true" range="0 0.6403411935" width="0.004" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="chain_r_a"/><geom geom="chain_r_over" sidesite="chain_r_side"/><site site="chain_r_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_k" kv="300" forcerange="-20 20"/></actuator>
</mujoco>
