<mujoco model="12-simple-pulley-for-lifting-weights">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<geom name="beam_r0" type="capsule" fromto="0 0 0.784 0 0 0.646" size="0.0042" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_r1" type="capsule" fromto="-0.029 0 0.637 0.029 0 0.637" size="0.0042" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_b2" type="box" pos="0 0 0.794" size="0.21 0.032 0.011" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="hand" pos="-0.2786 0 0.47434" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="-0.7071068 0 -0.7071068" damping="0" frictionloss="0"/><inertial pos="-0.01955435114 0 -0.01952586373" mass="0.9" fullinertia="0.0005667787528 0.001001062947 0.0005652439612 0 -0.000435050877 0"/><geom name="hand_rod0" type="capsule" fromto="-0.0184 0 -0.01834 0.0141 0 0.01416" size="0.02" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="-0.0424 0 -0.04244 -0.0184 0 -0.01834" size="0.0155" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="-0.0707 0 -0.07074 -0.0424 0 -0.04244" size="0.0125" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="bag" pos="0.094 0 0.216"><joint name="j_bag" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.02 0.6"/><inertial pos="0 0 0" mass="20" diaginertia="0.07708666667 0.08536 0.07708666667"/><geom name="bag_g" type="box" size="0.056 0.056 0.09" contype="0" conaffinity="0" group="2" mass="0"/></body>
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<body name="rope_l000" pos="-0.2786 0 0.47434" quat="0.9238813027 0 -0.3826791586 0">
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<body name="rope_l003" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l007" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l007_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l009" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l009_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l016" pos="0.02418765847 0 0" quat="0.9916890625 0 0.1286576979 0"><joint name="rope_l016_s" type="slide" axis="0.9668943936 0 0.2551768636" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01209382833 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 8.997793532e-8 8.997793532e-8"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.02418765666 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l025" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l025_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l025_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l026" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l026_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l026_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l027" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l027_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l027_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l028" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l028_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l028_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l029" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l029_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l029_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l030" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l030_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l031" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l031_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l032" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l032_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l032_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l033" pos="0.02425490642 0 0" quat="1 0 0 0"><joint name="rope_l033_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.00049" damping="12"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01212745321 0 0" mass="0.0017056277" diaginertia="1.36450216e-8 9.044097779e-8 9.044097779e-8"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.02425490642 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="rope_eyeA" body1="rope_l000" body2="hand" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l033" body2="bag" anchor="0.02425490642 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="hand"/><exclude body1="rope_l033" body2="bag"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
