<mujoco model="16-spanish-barton">
<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="0.1962 0 0.378" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.01 0.43"/><inertial pos="0 0 -0.01198380879" mass="0.9" fullinertia="0.0003736659815 0.0003736659815 0.000121061223 0 0 0"/><geom name="hand_rod0" type="capsule" fromto="0 0 -0.016 0 0 0.016" size="0.019" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0 0 -0.03 0 0 -0.016" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="0 0 -0.054 0 0 -0.03" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="ceiling" pos="0 0 0"></body>
<body name="sheave_a" pos="0.0729 0 0.7025"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.6" frictionloss="0.4"/><inertial pos="0 0 0" mass="0.9" diaginertia="0.001279701 0.0019395216 0.001279701"/><geom name="sheave_a_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.0734" 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_a_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.0784" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_a_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.0784" 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_b" pos="0.1242 0 0.4734"><joint name="j_b" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.33 0.01"/><joint name="block_b_spin" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0.02"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.001176018 0.0017856288 0.001176018"/><geom name="block_b_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.0747" 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="block_b_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.0797" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="block_b_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.0797" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><body name="hook_b" pos="0 0 0"><joint name="j_hook_b" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.003795450298 0 0.05116726607" mass="0.15" fullinertia="0.0001226906042 0.0001234242182 0.000001399739494 0 -0.000009338329588 0"/><geom name="hook_b_rod0" type="capsule" fromto="0.0072 0 0.0956 0 0 0.0016" size="0.003" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hook_b_rod1" type="capsule" fromto="0.0038 0 0.0972 0.0108 0 0.0972" size="0.0026" contype="0" conaffinity="0" group="1" mass="0"/></body>
</body>
<body name="block_c" pos="0 0 0.2682"><joint name="j_c" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.01 0.27"/><joint name="block_c_spin" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0.02"/><inertial pos="0 0 0" mass="1" diaginertia="0.00143661 0.002178576 0.00143661"/><geom name="block_c_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.0738" 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="block_c_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.0788" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="block_c_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.0788" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><body name="hook_c" pos="0 0 0"><joint name="j_hook_c" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.007678136238 0 -0.01308437197" mass="0.15" fullinertia="0.0007952724346 0.000795374682 7.737459187e-7 0 0.000008677522368 0"/><geom name="hook_c_rod0" type="capsule" fromto="-0.009 0 0.1078 -0.0063 0 -0.1392" size="0.003" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hook_c_rod1" type="capsule" fromto="-0.0125 0 0.1098 -0.0055 0 0.1098" size="0.0026" contype="0" conaffinity="0" group="1" mass="0"/></body>
</body>
<body name="load" pos="-0.0063 0 0.072"><joint name="j_load" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.01 0.27" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.00006676691729 0.00008045112782 0" mass="20" fullinertia="0.02396376529 0.05837706663 0.04348537328 0.00003561287128 0 0"/></body>
<body name="fall_l000" pos="-0.081 0 0.828" quat="0.7081794024 0 0.7060325304 0">
<freejoint name="fall_root"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l000_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l001" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l001_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l001_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l002" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l002_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l002_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l003" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l003_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l004" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l004_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l004_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l005" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l005_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l005_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l006" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l006_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l006_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l007" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l007_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l007_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l008" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l008_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l008_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l009" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l009_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l009_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l010" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l010_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l010_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l011" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l011_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l011_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l012" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l012_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l012_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l013" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l013_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l013_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l014" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l014_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l014_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l015" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l015_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l015_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l016" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l016_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l016_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l017" pos="0.02964388548 0 0" quat="1 0 0 0"><joint name="fall_l017_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482194274 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.179376497e-7 3.179376497e-7"/><geom name="fall_l017_c" type="capsule" fromto="0 0 0 0.02964388548 0 0" size="0.0055" 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="fall_l018" pos="0.02964388548 0 0" quat="0.9999994135 0 -0.001083073349 0"><joint name="fall_l018_s" type="slide" axis="0.9999976539 0 -0.002166145427" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01482154701 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.17922262e-7 3.17922262e-7"/><geom name="fall_l018_c" type="capsule" fromto="0 0 0 0.02964309402 0 0" size="0.0055" 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="fall_l019" pos="0.02964309402 0 0" quat="0.9936799237 0 -0.1122506535 0"><joint name="fall_l019_s" type="slide" axis="0.9747995816 0 -0.2230824416" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01473579396 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.145974687e-7 3.145974687e-7"/><geom name="fall_l019_c" type="capsule" fromto="0 0 0 0.02947158791 0 0" size="0.0055" 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="fall_l020" pos="0.02947158791 0 0" quat="0.982582917 0 -0.1858246789 0"><joint name="fall_l020_s" type="slide" axis="0.9309383774 0 -0.3651763101" stiffness="400000" springref="0.000125" damping="12"/><joint name="fall_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01473579372 0 0" mass="0.003935237397" diaginertia="5.952046563e-8 3.145974596e-7 3.145974596e-7"/><geom name="fall_l020_c" type="capsule" fromto="0 0 0 0.02947158744 0 0" size="0.0055" 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="strop_l005" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l005_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l005_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l006" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l006_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l006_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l007" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l007_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l007_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l008" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l008_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l008_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l009" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l009_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l009_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l010" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l010_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l010_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l011" pos="0.02926527633 0 0" quat="0.9973633398 0 0.07256974922 0"><joint name="strop_l011_s" type="slide" axis="0.989467263 0 0.1447568149" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01455380764 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.467772315e-7 2.467772315e-7"/><geom name="strop_l011_c" type="capsule" fromto="0 0 0 0.02910761528 0 0" size="0.005" 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="strop_l012" pos="0.02910761528 0 0" quat="0.982871036 0 0.184294673 0"><joint name="strop_l012_s" type="slide" axis="0.932070947 0 0.3622757924" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782657 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465909322e-7 2.465909322e-7"/><geom name="strop_l012_c" type="capsule" fromto="0 0 0 0.02909565314 0 0" size="0.005" 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="strop_l013" pos="0.02909565314 0 0" quat="0.9826328334 0 0.185560542 0"><joint name="strop_l013_s" type="slide" axis="0.9311345705 0 0.3646757622" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782925 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465910159e-7 2.465910159e-7"/><geom name="strop_l013_c" type="capsule" fromto="0 0 0 0.02909565851 0 0" size="0.005" 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="strop_l014" pos="0.02909565851 0 0" quat="0.9826330768 0 0.1855592532 0"><joint name="strop_l014_s" type="slide" axis="0.9311355271 0 0.3646733198" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782352 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465908374e-7 2.465908374e-7"/><geom name="strop_l014_c" type="capsule" fromto="0 0 0 0.02909564705 0 0" size="0.005" 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="strop_l015" pos="0.02909564705 0 0" quat="0.9826332898 0 0.185558125 0"><joint name="strop_l015_s" type="slide" axis="0.9311363645 0 0.3646711817" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782301 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465908214e-7 2.465908214e-7"/><geom name="strop_l015_c" type="capsule" fromto="0 0 0 0.02909564602 0 0" size="0.005" 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="strop_l016" pos="0.02909564602 0 0" quat="0.9826331362 0 0.1855589384 0"><joint name="strop_l016_s" type="slide" axis="0.9311357608 0 0.3646727231" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782948 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.46591023e-7 2.46591023e-7"/><geom name="strop_l016_c" type="capsule" fromto="0 0 0 0.02909565896 0 0" size="0.005" 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="strop_l017" pos="0.02909565896 0 0" quat="0.982632774 0 0.1855608567 0"><joint name="strop_l017_s" type="slide" axis="0.9311343369 0 0.3646763588" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782754 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465909626e-7 2.465909626e-7"/><geom name="strop_l017_c" type="capsule" fromto="0 0 0 0.02909565509 0 0" size="0.005" 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="strop_l018" pos="0.02909565509 0 0" quat="0.9826332898 0 0.1855581251 0"><joint name="strop_l018_s" type="slide" axis="0.9311363644 0 0.3646711818" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01454782181 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.465907841e-7 2.465907841e-7"/><geom name="strop_l018_c" type="capsule" fromto="0 0 0 0.02909564363 0 0" size="0.005" 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="strop_l019" pos="0.02909564363 0 0" quat="0.98272846 0 0.1850534353 0"><joint name="strop_l019_s" type="slide" axis="0.9315104521 0 0.3637145551" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01455037153 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.466701935e-7 2.466701935e-7"/><geom name="strop_l019_c" type="capsule" fromto="0 0 0 0.02910074305 0 0" size="0.005" 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="strop_l020" pos="0.02910074305 0 0" quat="0.9968069259 0 0.07984956207 0"><joint name="strop_l020_s" type="slide" axis="0.9872480949 0 0.159189193" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l020_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l021" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l021_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l021_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l022" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l022_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l022_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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="strop_l023" pos="0.02926527633 0 0" quat="1 0 0 0"><joint name="strop_l023_s" type="slide" axis="1 0 0" stiffness="400000" springref="0.000275" damping="12"/><joint name="strop_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01463263816 0 0" mass="0.003210969137" diaginertia="4.013711422e-8 2.492398124e-7 2.492398124e-7"/><geom name="strop_l023_c" type="capsule" fromto="0 0 0 0.02926527633 0 0" size="0.005" 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>
</worldbody>
<equality><connect name="p_load" body1="hook_c" body2="load" anchor="-0.0063 0 -0.1382" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="fall_eyeA" body1="fall_l000" body2="ceiling" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="fall_eyeB" body1="fall_l045" body2="hand" anchor="0.02964388548 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="strop_eyeA" body1="strop_l000" body2="hook_c" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="strop_eyeB" body1="strop_l023" body2="hook_b" anchor="0.02926527633 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="hook_c" body2="load"/><exclude body1="fall_l000" body2="ceiling"/><exclude body1="fall_l045" body2="hand"/><exclude body1="strop_l000" body2="hook_c"/><exclude body1="strop_l023" body2="hook_b"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
