<mujoco model="18-a-combination-of-two-fixed-pulleys-and-one-movable-pulley">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<geom name="ceiling_b0" type="box" pos="0 0 1.106" size="0.17 0.03 0.012" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="hand" pos="-0.1867 0 0.7148" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="-0.3420201 0 -0.9396926" damping="0" frictionloss="0" range="-0.04 0.16"/><inertial pos="-0.007050067005 0 -0.01935427453" mass="0.9" fullinertia="0.000558840683 0.0006165943828 0.0001818912279 0 -0.0001584477959 0"/><geom name="hand_rod0" type="capsule" fromto="0.0051 0 0.0141 -0.0051 0 -0.0141" size="0.02" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="-0.0051 0 -0.0141 -0.0144 0 -0.0395" size="0.0155" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="-0.0144 0 -0.0395 -0.0257 0 -0.0705" size="0.0125" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="upblock" pos="0 0 0.88"></body>
<body name="upper" pos="0 0 0.88"><joint name="j_upper" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0040575 0.006348 0.0040575"/><geom name="upper_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.115" 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="upper_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.12" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="upper_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.12" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="middle" pos="0 0 0.63"><joint name="j_middle" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00201 0.003072 0.00201"/><geom name="middle_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.08" 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="middle_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.085" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="middle_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.085" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="block" pos="0 0 0"><joint name="j_block" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.06 0.1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.000001209618691 0 0.0008531217389" mass="1.2" fullinertia="0.003780551347 0.005970649778 0.003015429315 0 -2.091267058e-7 0"/><body name="sheave" pos="0 0 0"><joint name="j_sheave" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.00134 0.002048 0.00134"/><geom name="sheave_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.08" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.085" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.085" 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 -0.16"><joint name="j_load" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.04 0.1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.05" mass="20" fullinertia="0.03315037214 0.05583462819 0.05571943819 0 0 0"/></body>
<body name="rope_l000" pos="-0.1867 0 0.7148" quat="0.8190720313 0 -0.5736906898 0">
<freejoint name="rope_root"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l001_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l002_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l004_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l005_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l006_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l007_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.02610031807 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="0.02610031807 0 0" quat="0.9997959264 0 0.02020162223 0"><joint name="rope_l008_s" type="slide" axis="0.9991837889 0 0.04039499923" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01303741096 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.113101773e-7 1.113101773e-7"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.02607482193 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="0.02607482193 0 0" quat="0.9948838859 0 0.1010250147 0"><joint name="rope_l009_s" type="slide" axis="0.9795878928 0 0.2010163183" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401295 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965957e-7 1.110965957e-7"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.0260480259 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="0.0260480259 0 0" quat="0.9939923379 0 0.1094496787 0"><joint name="rope_l010_s" type="slide" axis="0.9760415356 0 0.2175842841" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401273 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965922e-7 1.110965922e-7"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.02604802546 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="0.02604802546 0 0" quat="0.9939933086 0 0.1094408632 0"><joint name="rope_l011_s" type="slide" axis="0.9760453949 0 0.2175669715" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401426 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110966166e-7 1.110966166e-7"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.02604802852 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="0.02604802852 0 0" quat="0.9939922158 0 0.1094507881 0"><joint name="rope_l012_s" type="slide" axis="0.97604105 0 0.2175864628" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401425 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110966164e-7 1.110966164e-7"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.0260480285 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="0.0260480285 0 0" quat="0.9939933158 0 0.1094407976 0"><joint name="rope_l013_s" type="slide" axis="0.9760454237 0 0.2175668425" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401289 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965948e-7 1.110965948e-7"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.02604802579 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="0.02604802579 0 0" quat="0.9939923234 0 0.1094498101 0"><joint name="rope_l014_s" type="slide" axis="0.9760414782 0 0.217584542" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401309 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965979e-7 1.110965979e-7"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.02604802618 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="0.02604802618 0 0" quat="0.9939932009 0 0.1094418413 0"><joint name="rope_l015_s" type="slide" axis="0.9760449668 0 0.2175688923" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401168 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965754e-7 1.110965754e-7"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.02604802335 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="0.02604802335 0 0" quat="0.9939924456 0 0.1094487007 0"><joint name="rope_l016_s" type="slide" axis="0.9760419638 0 0.2175823634" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401207 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965817e-7 1.110965817e-7"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.02604802414 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="0.02604802414 0 0" quat="0.9939930787 0 0.1094429507 0"><joint name="rope_l017_s" type="slide" axis="0.9760444811 0 0.2175710709" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0130240108 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965614e-7 1.110965614e-7"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.02604802159 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="0.02604802159 0 0" quat="0.9939925678 0 0.1094475914 0"><joint name="rope_l018_s" type="slide" axis="0.9760424495 0 0.2175801847" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401138 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965707e-7 1.110965707e-7"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.02604802276 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="0.02604802276 0 0" quat="0.9939929566 0 0.10944406 0"><joint name="rope_l019_s" type="slide" axis="0.9760439955 0 0.2175732496" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401026 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965528e-7 1.110965528e-7"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.02604802051 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="0.02604802051 0 0" quat="0.9939926899 0 0.109446482 0"><joint name="rope_l020_s" type="slide" axis="0.9760429352 0 0.2175780061" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01302401102 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.110965649e-7 1.110965649e-7"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.02604802204 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="0.02604802204 0 0" quat="0.9956065298 0 0.09363566571 0"><joint name="rope_l021_s" type="slide" axis="0.9824647242 0 0.1864485604" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01303908538 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.113368851e-7 1.113368851e-7"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.02607817076 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l110" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l110_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l110_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l110_c" type="capsule" fromto="0 0 0 0.02610031807 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_l111" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l111_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l111_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l111_c" type="capsule" fromto="0 0 0 0.02610031807 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_l112" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l112_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l112_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l112_c" type="capsule" fromto="0 0 0 0.02610031807 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_l113" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l113_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l113_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l113_c" type="capsule" fromto="0 0 0 0.02610031807 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_l114" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l114_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l114_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l114_c" type="capsule" fromto="0 0 0 0.02610031807 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_l115" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l115_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l115_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l115_c" type="capsule" fromto="0 0 0 0.02610031807 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_l116" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l116_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l116_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l116_c" type="capsule" fromto="0 0 0 0.02610031807 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_l117" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l117_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l117_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l117_c" type="capsule" fromto="0 0 0 0.02610031807 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_l118" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l118_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l118_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l118_c" type="capsule" fromto="0 0 0 0.02610031807 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_l119" pos="0.02610031807 0 0" quat="1 0 0 0"><joint name="rope_l119_s" type="slide" axis="1 0 0" stiffness="240000" springref="-0.0003" damping="3000"/><joint name="rope_l119_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01305015903 0 0" mass="0.001835044439" diaginertia="1.468035551e-8 1.115136019e-7 1.115136019e-7"/><geom name="rope_l119_c" type="capsule" fromto="0 0 0 0.02610031807 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></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="block" body2="load" anchor="0 0 -0.16" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="rope_eyeA" body1="rope_l000" body2="hand" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l119" body2="block" anchor="0.02610031807 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="block" body2="load"/><exclude body1="rope_l000" body2="hand"/><exclude body1="rope_l119" body2="block"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-200 200"/></actuator>
</mujoco>
