<mujoco model="17-spanish-barton-2">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<geom name="beam_r0" type="capsule" fromto="0.188 0 0.9 0.188 0 0.772" size="0.0045" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_r1" type="capsule" fromto="0.166 0 0.779 0.21 0 0.779" size="0.0055" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_b2" type="box" pos="0.07 0 0.91" size="0.23 0.032 0.01" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="hand" pos="0.415 0 0.187" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0.2677 0 -0.9635" damping="0" frictionloss="0"/><inertial pos="-0.00890327352 0 0.02102221309" mass="0.4" fullinertia="0.0002765250939 0.000316784231 0.000093603423 0 0.0000948859092 0"/><geom name="hand_rod0" type="capsule" fromto="-0.0065 0 0.0101 0.0065 0 -0.0101" size="0.02" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="-0.0079 0 0.0234 -0.0176 0 0.0386" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="-0.0154 0 0.0425 -0.0327 0 0.0695" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="eye" pos="-0.094 0 0.886"></body>
<body name="pulley_a" pos="0.188 0 0.75"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0025324 0.003888 0.0025324"/><geom name="pulley_a_rim" condim="3" type="capsule" fromto="0 -0.016 0 0 0.016 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_a_flangeL" type="cylinder" fromto="0 -0.016 0 0 -0.0208 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_a_flangeR" type="cylinder" fromto="0 0.016 0 0 0.0208 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="block_b" pos="0.243 0 0.455"><joint name="j_b" type="slide" axis="0 0 1" damping="20" frictionloss="0" range="-0.24 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.09475 0 0.029" mass="0.3" fullinertia="0.00001160328009 0.00001463125 0.00001037796991 0 -0.000003588705077 0"/><body name="sheave_b" pos="0 0 0"><joint name="j_sb" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00252 0.003888 0.00252"/><geom name="sheave_b_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_b_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_b_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="block_c" pos="0 0 0.2"><joint name="j_c" type="slide" axis="0 0 1" damping="40" frictionloss="0" range="-0.04 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02382451225 0 -0.05184011257" mass="0.3" fullinertia="0.0003610554073 0.001078464498 0.0007265680784 0 -0.0002630470493 0"/><body name="sheave_c" pos="0 0 0"><joint name="j_sc" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00252 0.003888 0.00252"/><geom name="sheave_c_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_c_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_c_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.095" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="load" pos="0 0 0.06"><joint name="j_load" type="slide" axis="0 0 1" damping="40" frictionloss="0" range="-0.04 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.03984230806" mass="20" fullinertia="0.0334418621 0.05422133889 0.0540280938 0 0 0"/></body>
<body name="standing_l000" pos="-0.094 0 0.874" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="standing_root"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l000_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l001" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l001_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l001_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l002" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l002_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l002_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l003" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l003_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l003_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l004" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l004_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l004_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l005" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l005_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l005_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l006" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l006_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l006_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l007" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l007_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l007_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l008" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l008_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l008_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l008_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l009" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l009_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l009_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l009_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l010" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l010_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l010_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l010_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l011" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l011_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l011_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l011_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l012" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l012_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l012_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l012_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l013" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l013_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l013_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l013_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l014" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l014_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l014_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l014_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l015" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l015_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l015_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l015_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l016" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l016_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l016_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l016_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l017" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l017_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l017_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l017_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l018" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l018_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l018_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l018_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l019" pos="0.03458998527 0 0" quat="0.9997036827 0 -0.02434228309 0"><joint name="standing_l019_s" type="slide" axis="0.9988149065 0 -0.04867014011" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l019_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01726235398 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.511374578e-7 2.511374578e-7"/><geom name="standing_l019_c" type="capsule" fromto="0 0 0 0.03452470796 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="standing_l020" pos="0.03452470796 0 0" quat="0.9868534812 0 -0.1616174704 0"><joint name="standing_l020_s" type="slide" axis="0.9477595865 0 -0.3189855265" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l020_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01719756865 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.493288002e-7 2.493288002e-7"/><geom name="standing_l020_c" type="capsule" fromto="0 0 0 0.0343951373 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="standing_l051" pos="0.03439514542 0 0" quat="0.9835467059 0 0.1806540266 0"><joint name="standing_l051_s" type="slide" axis="0.9347282453 0 0.3553633455" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l051_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01720949381 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.496612126e-7 2.496612126e-7"/><geom name="standing_l051_c" type="capsule" fromto="0 0 0 0.03441898762 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="standing_l052" pos="0.03441898762 0 0" quat="0.997895712 0 0.06483940107 0"><joint name="standing_l052_s" type="slide" axis="0.9915917041 0 0.1294059206" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l052_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l052_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l053" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l053_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l053_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l053_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l054" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l054_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l054_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l054_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l055" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l055_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l055_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l055_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l056" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l056_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l056_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l056_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l057" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l057_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l057_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l057_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l058" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l058_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l058_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l058_c" type="capsule" fromto="0 0 0 0.03458998527 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="standing_l059" pos="0.03458998527 0 0" quat="1 0 0 0"><joint name="standing_l059_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.00045" damping="12"/><joint name="standing_l059_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01729499263 0 0" mass="0.002430449796" diaginertia="1.944359837e-8 2.520512302e-7 2.520512302e-7"/><geom name="standing_l059_c" type="capsule" fromto="0 0 0 0.03458998527 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="haul_l000" pos="0.135 0 0.2" quat="0.7260432593 0 -0.6876490279 0">
<freejoint name="haul_root"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l000_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l001" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l001_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l001_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l002" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l002_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l002_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l003" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l003_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l003_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l004" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l004_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l004_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l005" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l005_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l005_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l006" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l006_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l006_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l007" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l007_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l007_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l008" pos="0.03172021604 0 0" quat="0.9986288338 0 0.05234933031 0"><joint name="haul_l008_s" type="slide" axis="0.9945190952 0 0.1045551014" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l008_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01579992981 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.943852448e-7 1.943852448e-7"/><geom name="haul_l008_c" type="capsule" fromto="0 0 0 0.03159985963 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="haul_l009" pos="0.03159985963 0 0" quat="0.9864272542 0 0.1641988799 0"><joint name="haul_l009_s" type="slide" axis="0.9460774557 0 0.3239405004" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l009_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495396 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940338188e-7 1.940338188e-7"/><geom name="haul_l009_c" type="capsule" fromto="0 0 0 0.03156990791 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="haul_l010" pos="0.03156990791 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l010_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l010_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495377 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940338145e-7 1.940338145e-7"/><geom name="haul_l010_c" type="capsule" fromto="0 0 0 0.03156990755 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="haul_l011" pos="0.03156990755 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l011_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l011_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.0157849536 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940338105e-7 1.940338105e-7"/><geom name="haul_l011_c" type="capsule" fromto="0 0 0 0.0315699072 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="haul_l012" pos="0.0315699072 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l012_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l012_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495344 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940338066e-7 1.940338066e-7"/><geom name="haul_l012_c" type="capsule" fromto="0 0 0 0.03156990687 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="haul_l013" pos="0.03156990687 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l013_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l013_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495328 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940338029e-7 1.940338029e-7"/><geom name="haul_l013_c" type="capsule" fromto="0 0 0 0.03156990656 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="haul_l014" pos="0.03156990656 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l014_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l014_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495313 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.940337994e-7 1.940337994e-7"/><geom name="haul_l014_c" type="capsule" fromto="0 0 0 0.03156990626 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="haul_l015" pos="0.03156990626 0 0" quat="0.9857997373 0 0.1679252156 0"><joint name="haul_l015_s" type="slide" axis="0.9436022439 0 0.3310812668" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l015_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01578495299 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.94033796e-7 1.94033796e-7"/><geom name="haul_l015_c" type="capsule" fromto="0 0 0 0.03156990597 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="haul_l016" pos="0.03156990597 0 0" quat="0.9884313737 0 0.1516687821 0"><joint name="haul_l016_s" type="slide" axis="0.9539931611 0 0.2998283653" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l016_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01582971508 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.950851811e-7 1.950851811e-7"/><geom name="haul_l016_c" type="capsule" fromto="0 0 0 0.03165943015 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="haul_l017" pos="0.03165943015 0 0" quat="0.9996554022 0 0.02625027422 0"><joint name="haul_l017_s" type="slide" axis="0.9986218462 0 0.05248245687" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l017_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l017_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l018" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l018_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l018_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l018_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l019" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l019_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l019_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l019_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l020" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l020_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l020_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l020_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l021" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l021_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l021_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l021_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l022" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l022_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l022_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l022_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l023" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l023_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l023_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l023_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l024" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l024_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l024_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l024_c" type="capsule" fromto="0 0 0 0.03172021604 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="haul_l025" pos="0.03172021604 0 0" quat="1 0 0 0"><joint name="haul_l025_s" type="slide" axis="1 0 0" stiffness="200000" springref="0.000075" damping="12"/><joint name="haul_l025_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.01586010802 0 0" mass="0.002228866678" diaginertia="1.783093342e-8 1.958007566e-7 1.958007566e-7"/><geom name="haul_l025_c" type="capsule" fromto="0 0 0 0.03172021604 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>
</worldbody>
<equality><connect name="hook" body1="block_c" body2="load" anchor="0 0 -0.108" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="standing_eyeA" body1="standing_l000" body2="eye" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="standing_eyeB" body1="standing_l059" body2="block_b" anchor="0.03458998527 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="haul_eyeA" body1="haul_l000" body2="block_c" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="haul_eyeB" body1="haul_l025" body2="hand" anchor="0.03172021604 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="block_c" body2="load"/><exclude body1="standing_l000" body2="eye"/><exclude body1="standing_l059" body2="block_b"/><exclude body1="haul_l000" body2="block_c"/><exclude body1="haul_l025" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-45 45"/></actuator>
</mujoco>
