<mujoco model="492-boat-detaching-hook">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="tackle" pos="0 0 0"><geom name="tackle_h0" type="capsule" fromto="-0.02374 -0.014 0.27071 -0.02374 0.014 0.27071" size="0.005" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="boat" pos="0 0 0"><joint name="j_b" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.06 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.03330461875" mass="0.3174158037" fullinertia="0.002100834867 0.002217409774 0.0007656944741 0 0 0"/><body name="ballast" pos="0 0 0.015"><inertial pos="0 0 0" mass="5" diaginertia="0.003125 0.002916666667 0.003125"/><geom name="ballast_g" type="box" size="0.03 0.03 0.02" contype="0" conaffinity="0" group="2" mass="0"/></body>
<body name="tongue" pos="0 0 0.3"><joint name="j_t" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.05 2.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01690868963 0 -0.01127245975" mass="0.1125268311" fullinertia="0.00002330238495 0.00006631945468 0.00004742764983 0 -0.00002895031785 0"/><geom name="tongue_h0" type="capsule" fromto="0 0 0 -0.05991 0 -0.03994" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="0 0 0.17"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.5 0.002" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02988009537 0.01195515028 -0.04428240248" mass="0.4093537106" fullinertia="0.003911556506 0.005534473173 0.001659519121 -0.00006871211682 0.002360946463 0.0001185159746"/><geom name="lever_h0" type="capsule" fromto="-0.05225 0 0.10742 -0.06973 0 0.09578" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_l" kv="400" forcerange="-20 20"/></actuator>
</mujoco>
