<mujoco model="15-whites-pulleys">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="hand" pos="-0.087 0 0.6" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.06 0.7"/><inertial pos="0 0 0" mass="0.4" fullinertia="0.0000321737931 0.0000321737931 0.00003541517241 0 0 0"/><geom name="hand_rod0" type="capsule" fromto="0 0 0.01 0 0 -0.01" size="0.014" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="upblock" pos="0 0 0.9"><body name="u2" pos="0 0.002 0"><joint name="j_u2" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.1" diaginertia="0.00001615833333 0.000025 0.00001615833333"/><geom name="u2_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.025" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u2_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0275" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u2_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0275" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="u4" pos="0 0.008 0"><joint name="j_u4" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.2" diaginertia="0.0001415166667 0.00022472 0.0001415166667"/><geom name="u4_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.053" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u4_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0555" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u4_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0555" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="u6" pos="0 0.014 0"><joint name="j_u6" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000493675 0.00078732 0.000493675"/><geom name="u6_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.081" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u6_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0835" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="u6_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0835" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
</body>
<body name="lowblock" pos="0 0 0.26"><joint name="j_block" type="slide" axis="0 0 1" damping="2" frictionloss="0" range="-0.06 0.16" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.008919282511 -0.02903587444" mass="12" fullinertia="0.02381642655 0.0226606303 0.001334128094 0 0 -0.003107750005"/><body name="l1" pos="0 0.002 0"><joint name="j_l1" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.05" diaginertia="0.000001779166667 0.00000242 0.000001779166667"/><geom name="l1_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.011" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l1_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0135" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l1_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0135" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="l3" pos="0 0.008 0"><joint name="j_l3" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.15" diaginertia="0.0000578375 0.00009126 0.0000578375"/><geom name="l3_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.039" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l3_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0415" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l3_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0415" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="l5" pos="0 0.014 0"><joint name="j_l5" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.25" diaginertia="0.0002818958333 0.0004489 0.0002818958333"/><geom name="l5_rim" condim="3" type="capsule" fromto="0 -0.004 0 0 0.004 0" size="0.067" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l5_flangeL" type="cylinder" fromto="0 -0.004 0 0 -0.006 0" size="0.0695" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="l5_flangeR" type="cylinder" fromto="0 0.004 0 0 0.006 0" size="0.0695" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
</body>
<body name="rope_cp1" pos="0 0.002 0.26"><joint name="rope_cs0" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.02520542051" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_cp2" pos="0 0.002 0.9"><joint name="rope_cs1" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.02880594549" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_cp3" pos="0 0.008 0.26"><joint name="rope_cs2" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03055073577" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_cp4" pos="0 0.008 0.9"><joint name="rope_cs3" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03229173399" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_cp5" pos="0 0.014 0.26"><joint name="rope_cs4" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.03404261681" diaginertia="1e-6 1e-6 1e-6"/></body>
<body name="rope_cp6" pos="0 0.014 0.9"><joint name="rope_cs5" type="slide" axis="1 0 0" damping="0"/><inertial pos="0 0 0" mass="0.02603739046" diaginertia="1e-6 1e-6 1e-6"/></body>
</worldbody>
<equality></equality>

<tendon><fixed name="rope_slip0" frictionloss="12.70714903" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs0" coef="1"/><joint joint="j_l1" coef="0.01398622038"/></fixed><fixed name="rope_slip1" frictionloss="12.77439239" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs1" coef="1"/><joint joint="j_u2" coef="0.02799309725"/></fixed><fixed name="rope_slip2" frictionloss="12.77439239" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs2" coef="1"/><joint joint="j_l3" coef="0.04199537064"/></fixed><fixed name="rope_slip3" frictionloss="12.77439239" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs3" coef="1"/><joint joint="j_u4" coef="0.05599649614"/></fixed><fixed name="rope_slip4" frictionloss="12.77439239" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs4" coef="1"/><joint joint="j_l5" coef="0.06999717686"/></fixed><fixed name="rope_slip5" frictionloss="12.80343415" solreffriction="0.001 1" solimpfriction="0.99 0.999 0.001"><joint joint="rope_cs5" coef="1"/><joint joint="j_u6" coef="0.08399762106"/></fixed><fixed name="rope_span0" stiffness="14573.60476" springlength="0.001436158064" damping="0.8744162855"><joint joint="rope_cs0" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span1" stiffness="11728.72822" springlength="0.001784507203" damping="0.7037236934"><joint joint="rope_cs0" coef="1"/><joint joint="rope_cs1" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span2" stiffness="11037.74158" springlength="0.001896221238" damping="0.6622644946"><joint joint="rope_cs1" coef="1"/><joint joint="rope_cs2" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span3" stiffness="10426.15873" springlength="0.002007450735" damping="0.6255695236"><joint joint="rope_cs2" coef="1"/><joint joint="rope_cs3" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span4" stiffness="9878.791374" springlength="0.002118680232" damping="0.5927274824"><joint joint="rope_cs3" coef="1"/><joint joint="rope_cs4" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span5" stiffness="9380.716928" springlength="0.002231172752" damping="0.5628430157"><joint joint="rope_cs4" coef="1"/><joint joint="rope_cs5" coef="-1"/><joint joint="j_block" coef="0"/></fixed><fixed name="rope_span6" stiffness="19100.22021" springlength="0.001095798885" damping="1.146013212"><joint joint="rope_cs5" coef="1"/><joint joint="j_hand" coef="0"/></fixed></tendon>
<actuator><velocity name="drive" joint="j_hand" kv="20000" forcerange="-400 400"/></actuator>
</mujoco>
