<mujoco model="14-blocks-and-tackle">
<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>
<body name="hand" pos="0.196 0 0.5" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.06 0.4"/><inertial pos="0.02546686172 0 -0.008995584404" mass="0.6" fullinertia="0.0002085035289 0.0006133774372 0.0004653023812 0 0.0002368897564 0"/><geom name="hand_rod0" type="capsule" fromto="-0.017 0 0.004 0.017 0 0.004" size="0.017" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0.017 0 0.004 0.04 0 -0.014" size="0.014" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="0.04 0 -0.014 0.079 0 -0.048" size="0.0115" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="upblock" pos="0 0 0.58"><body name="u1" pos="-0.049 0 0"><joint name="j_u1" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000174375 0.000243 0.000174375"/><geom name="u1_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.045" 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="u1_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="u1_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="u2" pos="0.147 0 0"><joint name="j_u2" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000174375 0.000243 0.000174375"/><geom name="u2_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.045" 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="u2_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="u2_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="lowblock" pos="0 0 0.34"><joint name="j_block" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.08 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.04899567726 0 -0.02225507979" mass="22.5" fullinertia="0.1011667353 0.2166939805 0.1553456038 0 0.000006207509899 0"/><body name="l1" pos="-0.147 0 0"><joint name="j_l1" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000174375 0.000243 0.000174375"/><geom name="l1_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.045" 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="l1_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="l1_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="l2" pos="0.049 0 0"><joint name="j_l2" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000174375 0.000243 0.000174375"/><geom name="l2_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.045" 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="l2_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="l2_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.054" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="rope_l000" pos="-0.196 0 0.536" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="rope_root"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l001_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l002_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l004_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l005_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l006_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l007_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l008_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l009_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l010_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l011_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="0.9983999153 0 -0.05654740644 0"><joint name="rope_l012_s" type="slide" axis="0.9936047816 0 -0.1129138516" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008021246188 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.879114495e-8 2.879114495e-8"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.01604249238 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="0.01604249238 0 0" quat="0.9869119226 0 -0.1612602151 0"><joint name="rope_l013_s" type="slide" axis="0.947990286 0 -0.3182992579" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016302559 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124376e-8 2.876124376e-8"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.01603260512 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="0.01603260512 0 0" quat="0.9865268949 0 -0.1635991618 0"><joint name="rope_l014_s" type="slide" axis="0.9464706285 0 -0.3227899461" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016301592 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876123791e-8 2.876123791e-8"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.01603260318 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="0.01603260318 0 0" quat="0.9865271177 0 -0.1635978181 0"><joint name="rope_l015_s" type="slide" axis="0.9464715078 0 -0.3227873679" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016298299 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.8761218e-8 2.8761218e-8"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.0160325966 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="0.0160325966 0 0" quat="0.9865271177 0 -0.1635978182 0"><joint name="rope_l016_s" type="slide" axis="0.9464715078 0 -0.3227873681" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296296 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120589e-8 2.876120589e-8"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.01603259259 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="0.01603259259 0 0" quat="0.9865271176 0 -0.1635978183 0"><joint name="rope_l017_s" type="slide" axis="0.9464715077 0 -0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295583 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120158e-8 2.876120158e-8"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.01603259117 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="0.01603259117 0 0" quat="0.9865271176 0 -0.1635978183 0"><joint name="rope_l018_s" type="slide" axis="0.9464715077 0 -0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00801629616 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120507e-8 2.876120507e-8"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.01603259232 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="0.01603259232 0 0" quat="0.9865271177 0 -0.1635978182 0"><joint name="rope_l019_s" type="slide" axis="0.9464715077 0 -0.3227873681" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016298027 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876121636e-8 2.876121636e-8"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.01603259605 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="0.01603259605 0 0" quat="0.9865271177 0 -0.1635978181 0"><joint name="rope_l020_s" type="slide" axis="0.9464715078 0 -0.3227873679" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016301183 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876123544e-8 2.876123544e-8"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.01603260237 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="0.01603260237 0 0" quat="0.987496014 0 -0.1576439731 0"><joint name="rope_l021_s" type="slide" axis="0.9502967555 0 -0.3113455901" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008027083327 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.88264742e-8 2.88264742e-8"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.01605416665 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="0.01605416665 0 0" quat="0.9990501268 0 -0.04357572781 0"><joint name="rope_l022_s" type="slide" axis="0.9962023119 0 -0.08706867278" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l022_c" type="capsule" fromto="0 0 0 0.01610499569 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_l023" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l023_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l023_c" type="capsule" fromto="0 0 0 0.01610499569 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_l024" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l024_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l024_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l025_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l025_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l026_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l026_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l027_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l027_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l028_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l028_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l029_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l029_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l030_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l031_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l032_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l032_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l033_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l034_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l034_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l035_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l035_c" type="capsule" fromto="0 0 0 0.01610499569 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="0.01610499569 0 0" quat="0.9999372835 0 0.01119951458 0"><joint name="rope_l036_s" type="slide" axis="0.9997491417 0 0.02239762436" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008047220376 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.894855084e-8 2.894855084e-8"/><geom name="rope_l036_c" type="capsule" fromto="0 0 0 0.01609444075 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="0.01609444075 0 0" quat="0.9913466218 0 0.1312702385 0"><joint name="rope_l037_s" type="slide" axis="0.9655362489 0 0.260268615" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296161 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120508e-8 2.876120508e-8"/><geom name="rope_l037_c" type="capsule" fromto="0 0 0 0.01603259232 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="0.01603259232 0 0" quat="0.9865271177 0 0.1635978182 0"><joint name="rope_l038_s" type="slide" axis="0.9464715077 0 0.3227873681" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016298029 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876121637e-8 2.876121637e-8"/><geom name="rope_l038_c" type="capsule" fromto="0 0 0 0.01603259606 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="0.01603259606 0 0" quat="0.9865271177 0 0.1635978181 0"><joint name="rope_l039_s" type="slide" axis="0.9464715078 0 0.3227873679" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016301188 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876123547e-8 2.876123547e-8"/><geom name="rope_l039_c" type="capsule" fromto="0 0 0 0.01603260238 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="0.01603260238 0 0" quat="0.9865269266 0 0.1635989704 0"><joint name="rope_l040_s" type="slide" axis="0.9464707537 0 0.322789579" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016302534 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124361e-8 2.876124361e-8"/><geom name="rope_l040_c" type="capsule" fromto="0 0 0 0.01603260507 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="0.01603260507 0 0" quat="0.9865270049 0 0.163598498 0"><joint name="rope_l041_s" type="slide" axis="0.9464710629 0 0.3227886725" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00801630025 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.87612298e-8 2.87612298e-8"/><geom name="rope_l041_c" type="capsule" fromto="0 0 0 0.0160326005 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="0.0160326005 0 0" quat="0.9865271177 0 0.1635978181 0"><joint name="rope_l042_s" type="slide" axis="0.9464715078 0 0.322787368" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016297424 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876121272e-8 2.876121272e-8"/><geom name="rope_l042_c" type="capsule" fromto="0 0 0 0.01603259485 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="0.01603259485 0 0" quat="0.9865271177 0 0.1635978182 0"><joint name="rope_l043_s" type="slide" axis="0.9464715077 0 0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295889 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120343e-8 2.876120343e-8"/><geom name="rope_l043_c" type="capsule" fromto="0 0 0 0.01603259178 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="0.01603259178 0 0" quat="0.9865271176 0 0.1635978183 0"><joint name="rope_l044_s" type="slide" axis="0.9464715077 0 0.3227873683" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295643 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120194e-8 2.876120194e-8"/><geom name="rope_l044_c" type="capsule" fromto="0 0 0 0.01603259129 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="0.01603259129 0 0" quat="0.9865271177 0 0.1635978183 0"><joint name="rope_l045_s" type="slide" axis="0.9464715077 0 0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296687 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120826e-8 2.876120826e-8"/><geom name="rope_l045_c" type="capsule" fromto="0 0 0 0.01603259337 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="0.01603259337 0 0" quat="0.9939210998 0 0.1100947201 0"><joint name="rope_l046_s" type="slide" axis="0.9757583052 0 0.2188509305" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008051654871 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.897547513e-8 2.897547513e-8"/><geom name="rope_l046_c" type="capsule" fromto="0 0 0 0.01610330974 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="0.01610330974 0 0" quat="0.9999956984 0 0.002933113497 0"><joint name="rope_l047_s" type="slide" axis="0.9999827937 0 0.005866201759" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l047_c" type="capsule" fromto="0 0 0 0.01610499569 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_l048" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l048_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l048_c" type="capsule" fromto="0 0 0 0.01610499569 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_l049" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l049_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l049_c" type="capsule" fromto="0 0 0 0.01610499569 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_l050" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l050_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l050_c" type="capsule" fromto="0 0 0 0.01610499569 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_l051" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l051_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l051_c" type="capsule" fromto="0 0 0 0.01610499569 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_l052" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l052_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l052_c" type="capsule" fromto="0 0 0 0.01610499569 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_l053" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l053_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l053_c" type="capsule" fromto="0 0 0 0.01610499569 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_l054" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l054_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l054_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l054_c" type="capsule" fromto="0 0 0 0.01610499569 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_l055" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l055_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l055_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l055_c" type="capsule" fromto="0 0 0 0.01610499569 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_l056" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l056_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l056_c" type="capsule" fromto="0 0 0 0.01610499569 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_l057" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l057_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l057_c" type="capsule" fromto="0 0 0 0.01610499569 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_l058" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l058_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l058_c" type="capsule" fromto="0 0 0 0.01610499569 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_l059" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l059_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l059_c" type="capsule" fromto="0 0 0 0.01610499569 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_l060" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l060_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l060_c" type="capsule" fromto="0 0 0 0.01610499569 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_l061" pos="0.01610499569 0 0" quat="0.997699847 0 -0.0677865421 0"><joint name="rope_l061_s" type="slide" axis="0.9908099694 0 -0.1352612454" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008017896079 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.877088004e-8 2.877088004e-8"/><geom name="rope_l061_c" type="capsule" fromto="0 0 0 0.01603579216 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_l062" pos="0.01603579216 0 0" quat="0.9866385807 0 -0.1629242496 0"><joint name="rope_l062_s" type="slide" axis="0.9469113778 0 -0.3214947008" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295888 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120342e-8 2.876120342e-8"/><geom name="rope_l062_c" type="capsule" fromto="0 0 0 0.01603259178 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_l063" pos="0.01603259178 0 0" quat="0.9865271176 0 -0.1635978183 0"><joint name="rope_l063_s" type="slide" axis="0.9464715077 0 -0.3227873683" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295643 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120195e-8 2.876120195e-8"/><geom name="rope_l063_c" type="capsule" fromto="0 0 0 0.01603259129 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_l064" pos="0.01603259129 0 0" quat="0.9865271177 0 -0.1635978183 0"><joint name="rope_l064_s" type="slide" axis="0.9464715077 0 -0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296689 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120827e-8 2.876120827e-8"/><geom name="rope_l064_c" type="capsule" fromto="0 0 0 0.01603259338 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_l065" pos="0.01603259338 0 0" quat="0.9865271177 0 -0.1635978182 0"><joint name="rope_l065_s" type="slide" axis="0.9464715078 0 -0.3227873681" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016299024 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876122239e-8 2.876122239e-8"/><geom name="rope_l065_c" type="capsule" fromto="0 0 0 0.01603259805 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_l066" pos="0.01603259805 0 0" quat="0.9865271177 0 -0.163597818 0"><joint name="rope_l066_s" type="slide" axis="0.9464715079 0 -0.3227873678" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00801630265 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124431e-8 2.876124431e-8"/><geom name="rope_l066_c" type="capsule" fromto="0 0 0 0.0160326053 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_l067" pos="0.0160326053 0 0" quat="0.9865268165 0 -0.1635996342 0"><joint name="rope_l067_s" type="slide" axis="0.9464703194 0 -0.3227908526" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016302682 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124451e-8 2.876124451e-8"/><geom name="rope_l067_c" type="capsule" fromto="0 0 0 0.01603260536 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_l068" pos="0.01603260536 0 0" quat="0.986527115 0 -0.1635978343 0"><joint name="rope_l068_s" type="slide" axis="0.9464714972 0 -0.322787399" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016299077 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876122271e-8 2.876122271e-8"/><geom name="rope_l068_c" type="capsule" fromto="0 0 0 0.01603259815 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_l069" pos="0.01603259815 0 0" quat="0.9865271177 0 -0.1635978182 0"><joint name="rope_l069_s" type="slide" axis="0.9464715078 0 -0.322787368" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296719 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120845e-8 2.876120845e-8"/><geom name="rope_l069_c" type="capsule" fromto="0 0 0 0.01603259344 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_l070" pos="0.01603259344 0 0" quat="0.9881227389 0 -0.1536666944 0"><joint name="rope_l070_s" type="slide" axis="0.9527730941 0 -0.3036831098" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l070_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008032114724 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.885694732e-8 2.885694732e-8"/><geom name="rope_l070_c" type="capsule" fromto="0 0 0 0.01606422945 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_l071" pos="0.01606422945 0 0" quat="0.999399139 0 -0.03466065572 0"><joint name="rope_l071_s" type="slide" axis="0.9975972779 0 -0.06927965896" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l071_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l071_c" type="capsule" fromto="0 0 0 0.01610499569 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_l072" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l072_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l072_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l072_c" type="capsule" fromto="0 0 0 0.01610499569 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_l073" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l073_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l073_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l073_c" type="capsule" fromto="0 0 0 0.01610499569 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_l074" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l074_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l074_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l074_c" type="capsule" fromto="0 0 0 0.01610499569 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_l075" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l075_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l075_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l075_c" type="capsule" fromto="0 0 0 0.01610499569 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_l076" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l076_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l076_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l076_c" type="capsule" fromto="0 0 0 0.01610499569 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_l077" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l077_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l077_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l077_c" type="capsule" fromto="0 0 0 0.01610499569 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_l078" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l078_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l078_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l078_c" type="capsule" fromto="0 0 0 0.01610499569 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_l079" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l079_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l079_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l079_c" type="capsule" fromto="0 0 0 0.01610499569 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_l080" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l080_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l080_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l080_c" type="capsule" fromto="0 0 0 0.01610499569 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_l081" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l081_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l081_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l081_c" type="capsule" fromto="0 0 0 0.01610499569 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_l082" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l082_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l082_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l082_c" type="capsule" fromto="0 0 0 0.01610499569 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_l083" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l083_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l083_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l083_c" type="capsule" fromto="0 0 0 0.01610499569 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_l084" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l084_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l084_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l084_c" type="capsule" fromto="0 0 0 0.01610499569 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_l085" pos="0.01610499569 0 0" quat="0.9998641219 0 0.01648446952 0"><joint name="rope_l085_s" type="slide" axis="0.9994565245 0 0.03296445929" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l085_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008043845763 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.892807162e-8 2.892807162e-8"/><geom name="rope_l085_c" type="capsule" fromto="0 0 0 0.01608769153 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_l086" pos="0.01608769153 0 0" quat="0.9903116281 0 0.1388628072 0"><joint name="rope_l086_s" type="slide" axis="0.9614342415 0 0.2750349054" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l086_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016302683 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124451e-8 2.876124451e-8"/><geom name="rope_l086_c" type="capsule" fromto="0 0 0 0.01603260537 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_l087" pos="0.01603260537 0 0" quat="0.9865271153 0 0.1635978322 0"><joint name="rope_l087_s" type="slide" axis="0.9464714986 0 0.3227873949" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l087_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016299074 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876122269e-8 2.876122269e-8"/><geom name="rope_l087_c" type="capsule" fromto="0 0 0 0.01603259815 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_l088" pos="0.01603259815 0 0" quat="0.9865271177 0 0.1635978182 0"><joint name="rope_l088_s" type="slide" axis="0.9464715078 0 0.322787368" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l088_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016296717 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120844e-8 2.876120844e-8"/><geom name="rope_l088_c" type="capsule" fromto="0 0 0 0.01603259343 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_l089" pos="0.01603259343 0 0" quat="0.9865271177 0 0.1635978183 0"><joint name="rope_l089_s" type="slide" axis="0.9464715077 0 0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l089_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00801629565 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120199e-8 2.876120199e-8"/><geom name="rope_l089_c" type="capsule" fromto="0 0 0 0.0160325913 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_l090" pos="0.0160325913 0 0" quat="0.9865271176 0 0.1635978183 0"><joint name="rope_l090_s" type="slide" axis="0.9464715077 0 0.3227873683" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l090_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016295873 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876120334e-8 2.876120334e-8"/><geom name="rope_l090_c" type="capsule" fromto="0 0 0 0.01603259175 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_l091" pos="0.01603259175 0 0" quat="0.9865271177 0 0.1635978182 0"><joint name="rope_l091_s" type="slide" axis="0.9464715077 0 0.3227873682" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l091_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016297386 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876121248e-8 2.876121248e-8"/><geom name="rope_l091_c" type="capsule" fromto="0 0 0 0.01603259477 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_l092" pos="0.01603259477 0 0" quat="0.9865271177 0 0.1635978181 0"><joint name="rope_l092_s" type="slide" axis="0.9464715078 0 0.322787368" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l092_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016300189 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876122943e-8 2.876122943e-8"/><geom name="rope_l092_c" type="capsule" fromto="0 0 0 0.01603260038 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_l093" pos="0.01603260038 0 0" quat="0.9865270103 0 0.1635984655 0"><joint name="rope_l093_s" type="slide" axis="0.9464710842 0 0.3227886101" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l093_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016302538 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876124363e-8 2.876124363e-8"/><geom name="rope_l093_c" type="capsule" fromto="0 0 0 0.01603260508 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_l094" pos="0.01603260508 0 0" quat="0.9865269212 0 0.1635990029 0"><joint name="rope_l094_s" type="slide" axis="0.9464707325 0 0.3227896414" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l094_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008016301255 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.876123588e-8 2.876123588e-8"/><geom name="rope_l094_c" type="capsule" fromto="0 0 0 0.01603260251 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_l095" pos="0.01603260251 0 0" quat="0.9950730281 0 0.09914468572 0"><joint name="rope_l095_s" type="slide" axis="0.9803406626 0 0.1973124053" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l095_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052318804 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.897950751e-8 2.897950751e-8"/><geom name="rope_l095_c" type="capsule" fromto="0 0 0 0.01610463761 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_l096" pos="0.01610463761 0 0" quat="0.9999995056 0 0.0009943850883 0"><joint name="rope_l096_s" type="slide" axis="0.9999980224 0 0.001988769193" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l096_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l096_c" type="capsule" fromto="0 0 0 0.01610499569 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_l097" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l097_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l097_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l097_c" type="capsule" fromto="0 0 0 0.01610499569 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_l098" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l098_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l098_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l098_c" type="capsule" fromto="0 0 0 0.01610499569 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_l099" pos="0.01610499569 0 0" quat="1 0 0 0"><joint name="rope_l099_s" type="slide" axis="1 0 0" stiffness="150000" springref="0.00036" damping="12"/><joint name="rope_l099_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008052497845 0 0" mass="0.001131425113" diaginertia="9.051400904e-9 2.898059497e-8 2.898059497e-8"/><geom name="rope_l099_c" type="capsule" fromto="0 0 0 0.01610499569 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></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></body></body></body></body>
</worldbody>
<equality><connect name="rope_eyeA" body1="rope_l000" body2="upblock" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l099" body2="hand" anchor="0.01610499569 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="upblock"/><exclude body1="rope_l099" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-400 400"/></actuator>
</mujoco>
