<mujoco model="490-ordinary-steering-apparatus">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
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<body name="handwheel" pos="0 0 0"><joint name="j_key" type="hinge" axis="1 0 0" damping="0.01" frictionloss="0" range="-0.0002 0.0002" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.1450126766 0 0" mass="16.87232156" fullinertia="1.385595002 0.7475219527 0.7475213359 0 0 0"/></body>
</body>
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</body>
<body name="g_bot" pos="0.09 -0.4 0.064" quat="1 0 0 0"><joint name="j_gb" type="hinge" axis="0 0 1" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.5" fullinertia="0.0003365 0.0003365000358 0.0005000000532 0 0 -8.700240976e-12"/><body name="gb_w" pos="0 0 0" quat="0.7071068 0.7071068 0 0"><geom name="gb_w_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="gb_w_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.0086 0" size="0.056" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="gb_w_flangeR" type="cylinder" fromto="0 0.005 0 0 0.0086 0" size="0.056" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
</body>
<body name="tiller" pos="0.72 0 0.064" quat="1 0 0 0"><joint name="j_t" type="hinge" axis="0 0 1" damping="3" frictionloss="0" range="-0.8 0.8"/><inertial pos="-0.07104913556 0 -0.09327847183" mass="8.439410999" fullinertia="0.05381873983 0.2076637364 0.1572700526 0 0.04237535951 -1.851794409e-12"/><body name="boss_w" pos="-0.44 0 0" quat="0.7071068 0.7071068 0 0"><geom name="boss_w_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.03" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="boss_w_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.0086 0" size="0.036" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="boss_w_flangeR" type="cylinder" fromto="0 0.005 0 0 0.0086 0" size="0.036" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="bar" type="capsule" fromto="-0.42 0 -0.032 0 0 -0.032" size="0.014" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="stock" type="capsule" fromto="0 0 -0.24 0 0 0" size="0.032" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="rope_l000" pos="0.04 4.681338103e-12 0.064" quat="0.03406996861 0.7236802642 0.6885313118 -0.03241519955">
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<body name="rope_l009" pos="0.01203967601 0 0" quat="0.9955883433 -0.0006525071977 -0.09356934935 0.00694274957"><joint name="rope_l009_s" type="slide" axis="0.9823931502 -0.01370213174 -0.1863221674" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l009_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006019836037 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.252852276e-9 9.252852276e-9"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.01203967207 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<body name="rope_l010" pos="0.04598946877 0.06093267334 -0.01957551041" quat="0.5871232093 0.4244528126 0.3543408475 -0.5912433601">
<joint name="rope_root1" type="free" damping="0.0001"/><inertial pos="0.006019838476 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.252857909e-9 9.252857909e-9"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.01203967695 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="rope_l190" pos="0.03879350306 -0.1205681163 0.06400000001" quat="-0.1606104815 0.6922480811 0.6853555748 -0.1590113312">
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<body name="rope_l191" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l191_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l191_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l191_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l191_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l192" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l192_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l192_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l192_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l192_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l193" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l193_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l193_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l193_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l193_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l194" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l194_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l194_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l194_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l194_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l195" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l195_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l195_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l195_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l195_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l196" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l196_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l196_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l196_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l196_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l197" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l197_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l197_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l197_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l197_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l198" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l198_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l198_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l198_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l198_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="rope_l199" pos="0.01205741527 0 0" quat="1 0 0 0"><joint name="rope_l199_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="rope_l199_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="rope_l199_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.006028707635 0 0" mass="0.0005754449136" diaginertia="4.603559309e-9 9.273355347e-9 9.273355347e-9"/><geom name="rope_l199_c" type="capsule" fromto="0 0 0 0.01205741527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="rope_pin0" body1="rope_l009" body2="rope_l010" anchor="0.01203967207 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin1" body1="rope_l019" body2="rope_l020" anchor="0.01203967587 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin2" body1="rope_l029" body2="rope_l030" anchor="0.0120396737 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin3" body1="rope_l039" body2="rope_l040" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin4" body1="rope_l049" body2="rope_l050" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin5" body1="rope_l059" body2="rope_l060" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin6" body1="rope_l069" body2="rope_l070" anchor="0.01203237669 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin7" body1="rope_l079" body2="rope_l080" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin8" body1="rope_l089" body2="rope_l090" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin9" body1="rope_l099" body2="rope_l100" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin10" body1="rope_l109" body2="rope_l110" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin11" body1="rope_l119" body2="rope_l120" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin12" body1="rope_l129" body2="rope_l130" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin13" body1="rope_l139" body2="rope_l140" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin14" body1="rope_l149" body2="rope_l150" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin15" body1="rope_l159" body2="rope_l160" anchor="0.01203238291 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin16" body1="rope_l169" body2="rope_l170" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin17" body1="rope_l179" body2="rope_l180" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin18" body1="rope_l189" body2="rope_l190" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_pin19" body1="rope_l199" body2="rope_l000" anchor="0.01205741527 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rope_l009" body2="rope_l010"/><exclude body1="rope_l019" body2="rope_l020"/><exclude body1="rope_l029" body2="rope_l030"/><exclude body1="rope_l039" body2="rope_l040"/><exclude body1="rope_l049" body2="rope_l050"/><exclude body1="rope_l059" body2="rope_l060"/><exclude body1="rope_l069" body2="rope_l070"/><exclude body1="rope_l079" body2="rope_l080"/><exclude body1="rope_l089" body2="rope_l090"/><exclude body1="rope_l099" body2="rope_l100"/><exclude body1="rope_l109" body2="rope_l110"/><exclude body1="rope_l119" body2="rope_l120"/><exclude body1="rope_l129" body2="rope_l130"/><exclude body1="rope_l139" body2="rope_l140"/><exclude body1="rope_l149" body2="rope_l150"/><exclude body1="rope_l159" body2="rope_l160"/><exclude body1="rope_l169" body2="rope_l170"/><exclude body1="rope_l179" body2="rope_l180"/><exclude body1="rope_l189" body2="rope_l190"/><exclude body1="rope_l199" body2="rope_l000"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="20" forcerange="-200 200"/></actuator>
</mujoco>
