<mujoco model="13-in-this-the-lower-pulley-is-movable">
<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="0.08 0 0.794" size="0.26 0.032 0.011" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="hand" pos="-0.170416 0 0.426624" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="-0.3420201 0 -0.9396926" damping="0" frictionloss="0" range="-0.03 0.16"/><inertial pos="-0.003824431433 0 -0.01050740746" mass="0.9" fullinertia="0.0003179312092 0.0003423234517 0.0001581997814 0 -0.00006701633548 0"/><geom name="hand_rod0" type="capsule" fromto="0.00513 0 0.014095 -0.00513 0 -0.014095" size="0.02" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="-0.00513 0 -0.014095 -0.010945 0 -0.03007" size="0.0155" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="-0.010945 0 -0.03007 -0.017101 0 -0.046985" size="0.0125" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="eye" pos="0.242 0 0.77"></body>
<body name="fixed" pos="0 0 0.62"><joint name="j_fixed" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0025324 0.003888 0.0025324"/><geom name="fixed_rim" condim="3" type="capsule" fromto="0 -0.016 0 0 0.016 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="fixed_flangeL" type="cylinder" fromto="0 -0.016 0 0 -0.0208 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="fixed_flangeR" type="cylinder" fromto="0 0.016 0 0 0.0208 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="block" pos="0.168 0 0.3"><joint name="j_block" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.02 0.22" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.05747817298" mass="1.2" fullinertia="0.0008650187112 0.0008910141222 0.00006655137925 0 0 0"/><body name="sheave" pos="0 0 0"><joint name="j_sheave" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.001032266667 0.001568 0.001032266667"/><geom name="sheave_rim" condim="3" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeL" type="cylinder" fromto="0 -0.014 0 0 -0.0182 0" size="0.0745" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeR" type="cylinder" fromto="0 0.014 0 0 0.0182 0" size="0.0745" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="bag" pos="0 0 -0.11"><inertial pos="0 0 0" mass="20" diaginertia="0.01691 0.01649666667 0.01691"/><geom name="bag_g" type="box" size="0.033 0.033 0.029" contype="0" conaffinity="0" group="2" mass="0"/></body>
</body>
<body name="rope_l000" pos="-0.170416 0 0.426624" quat="0.8191522479 0 -0.5735761455 0">
<freejoint name="rope_root"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.03161724144 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_l001" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l001_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.03161724144 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_l002" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l002_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.03161724144 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_l003" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.03161724144 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_l004" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l004_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.03161724144 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_l005" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l005_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.03161724144 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_l006" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l006_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.03161724144 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_l007" pos="0.03161724144 0 0" quat="0.999900965 0 0.01407338612 0"><joint name="rope_l007_s" type="slide" axis="0.9996038796 0 0.02814398473" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01579447055 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.935428207e-7 1.935428207e-7"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.03158894109 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_l008" pos="0.03158894109 0 0" quat="0.9903778065 0 0.1383900299 0"><joint name="rope_l008_s" type="slide" axis="0.9616963992 0 0.2741168286" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573419988 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921362076e-7 1.921362076e-7"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.03146839977 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_l009" pos="0.03146839977 0 0" quat="0.9858917396 0 0.1673842221 0"><joint name="rope_l009_s" type="slide" axis="0.9439650444 0 0.3300454439" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573419463 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921360852e-7 1.921360852e-7"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.03146838926 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_l010" pos="0.03146838926 0 0" quat="0.9858917396 0 0.1673842222 0"><joint name="rope_l010_s" type="slide" axis="0.9439650443 0 0.3300454439" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573420037 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921362189e-7 1.921362189e-7"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.03146840073 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_l011" pos="0.03146840073 0 0" quat="0.9858913087 0 0.1673867598 0"><joint name="rope_l011_s" type="slide" axis="0.9439633453 0 0.3300503033" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0157342033 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921362873e-7 1.921362873e-7"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.0314684066 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_l012" pos="0.0314684066 0 0" quat="0.9858915404 0 0.1673853956 0"><joint name="rope_l012_s" type="slide" axis="0.9439642587 0 0.3300476909" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573419698 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.9213614e-7 1.9213614e-7"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.03146839396 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_l013" pos="0.03146839396 0 0" quat="0.9858917396 0 0.1673842221 0"><joint name="rope_l013_s" type="slide" axis="0.9439650444 0 0.3300454438" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573419528 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921361005e-7 1.921361005e-7"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.03146839057 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_l014" pos="0.03146839057 0 0" quat="0.9858917349 0 0.16738425 0"><joint name="rope_l014_s" type="slide" axis="0.9439650257 0 0.3300454972" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573420443 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.921363135e-7 1.921363135e-7"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.03146840886 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_l015" pos="0.03146840886 0 0" quat="0.9860495235 0 0.1664522068 0"><joint name="rope_l015_s" type="slide" axis="0.9445873257 0 0.3282602384" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01573857392 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.922381091e-7 1.922381091e-7"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.03147714784 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_l016" pos="0.03147714784 0 0" quat="0.9977520951 0 0.06701310855 0"><joint name="rope_l016_s" type="slide" axis="0.9910184866 0 0.1337249389" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.03161724144 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_l017" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l017_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.03161724144 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_l018" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l018_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.03161724144 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_l019" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l019_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.03161724144 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_l020" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l020_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.03161724144 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_l021" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l021_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.03161724144 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_l022" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l022_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l022_c" type="capsule" fromto="0 0 0 0.03161724144 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_l024" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l024_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l024_c" type="capsule" fromto="0 0 0 0.03161724144 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_l025" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l025_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l025_c" type="capsule" fromto="0 0 0 0.03161724144 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_l027" pos="0.03137757963 0 0" quat="0.9772724309 0 -0.2119872539 0"><joint name="rope_l027_s" type="slide" axis="0.9101228084 0 -0.4143385978" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568863913 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910764676e-7 1.910764676e-7"/><geom name="rope_l027_c" type="capsule" fromto="0 0 0 0.03137727825 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="0.03137727825 0 0" quat="0.9772679051 0 -0.2120081171 0"><joint name="rope_l028_s" type="slide" axis="0.9101051166 0 -0.4143774569" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568864121 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910765159e-7 1.910765159e-7"/><geom name="rope_l028_c" type="capsule" fromto="0 0 0 0.03137728241 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="0.03137728241 0 0" quat="0.9772677128 0 -0.2120090034 0"><joint name="rope_l029_s" type="slide" axis="0.910104365 0 -0.4143791077" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568864746 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910766612e-7 1.910766612e-7"/><geom name="rope_l029_c" type="capsule" fromto="0 0 0 0.03137729492 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="0.03137729492 0 0" quat="0.9772674877 0 -0.2120100409 0"><joint name="rope_l030_s" type="slide" axis="0.9101034851 0 -0.4143810401" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568864459 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910765944e-7 1.910765944e-7"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.03137728918 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="0.03137728918 0 0" quat="0.9772679051 0 -0.212008117 0"><joint name="rope_l031_s" type="slide" axis="0.9101051167 0 -0.4143774567" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568863869 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910764574e-7 1.910764574e-7"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.03137727738 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="0.03137727738 0 0" quat="0.9772679051 0 -0.212008117 0"><joint name="rope_l032_s" type="slide" axis="0.9101051166 0 -0.4143774568" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01568864314 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.910765607e-7 1.910765607e-7"/><geom name="rope_l032_c" type="capsule" fromto="0 0 0 0.03137728627 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="0.03137728627 0 0" quat="0.9854392576 0 -0.1700278496 0"><joint name="rope_l033_s" type="slide" axis="0.9421810607 0 -0.3351042357" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01579138642 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.934707118e-7 1.934707118e-7"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.03158277283 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_l034" pos="0.03158277283 0 0" quat="0.9998966691 0 -0.01437536351 0"><joint name="rope_l034_s" type="slide" axis="0.9995866978 0 -0.02874775619" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l034_c" type="capsule" fromto="0 0 0 0.03161724144 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_l035" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l035_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l035_c" type="capsule" fromto="0 0 0 0.03161724144 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_l036" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l036_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l036_c" type="capsule" fromto="0 0 0 0.03161724144 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_l037" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l037_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l037_c" type="capsule" fromto="0 0 0 0.03161724144 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_l038" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l038_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l038_c" type="capsule" fromto="0 0 0 0.03161724144 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_l039" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l039_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l039_c" type="capsule" fromto="0 0 0 0.03161724144 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_l040" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l040_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l040_c" type="capsule" fromto="0 0 0 0.03161724144 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_l041" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l041_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l041_c" type="capsule" fromto="0 0 0 0.03161724144 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_l042" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l042_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l042_c" type="capsule" fromto="0 0 0 0.03161724144 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_l043" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l043_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l043_c" type="capsule" fromto="0 0 0 0.03161724144 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_l044" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l044_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l044_c" type="capsule" fromto="0 0 0 0.03161724144 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_l045" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l045_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l045_c" type="capsule" fromto="0 0 0 0.03161724144 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_l046" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l046_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l046_c" type="capsule" fromto="0 0 0 0.03161724144 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_l047" pos="0.03161724144 0 0" quat="1 0 0 0"><joint name="rope_l047_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="rope_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01580862072 0 0" mass="0.002220671203" diaginertia="1.776536962e-8 1.938738407e-7 1.938738407e-7"/><geom name="rope_l047_c" type="capsule" fromto="0 0 0 0.03161724144 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></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_l047" body2="eye" anchor="0.03161724144 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="hand"/><exclude body1="rope_l047" body2="eye"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-400 400"/></actuator>
</mujoco>
