<mujoco model="19-different-arrangements-of-pulleys">
<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="-0.24 0 0.3" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.01 0.3"/><inertial pos="0 0 -0.0187768655" mass="0.4" fullinertia="0.0002405245408 0.0002405245408 0.00004059456069 0 0 0"/><geom name="hand_rod0" type="capsule" fromto="0 0 0.015 0 0 -0.015" size="0.017" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0 0 -0.015 0 0 -0.032" size="0.0135" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="0 0 -0.032 0 0 -0.07" size="0.011" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="ceiling" pos="0 0 1"></body>
<body name="sheave_a" pos="0 0 0.86"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1" diaginertia="0.002379 0.0036864 0.002379"/><geom name="sheave_a_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.096" 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="0.101" 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="0.101" 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="-0.1 0 0.62"><joint name="j_b" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.08 0.04" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.01449567299 0" mass="0.6" fullinertia="0.002470773532 0.002385667782 0.00009464640978 0 0 0"/><body name="sheave_b" pos="0 0 0"><joint name="j_sheave_b" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" diaginertia="0.0009114 0.00138624 0.0009114"/><geom name="sheave_b_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.076" 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="0.081" 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="0.081" 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="-0.18 0 0.4"><joint name="j_c" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.1 0.04" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.01305251789 0" mass="0.4" fullinertia="0.001066477306 0.001006514978 0.0000653408008 0 0 0"/><body name="sheave_c" pos="0 0 0"><joint name="j_sheave_c" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0003436 0.00050176 0.0003436"/><geom name="sheave_c_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.056" 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="0.061" 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="0.061" 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="-0.04 0 0.11"><joint name="j_load" type="slide" axis="0 0 1" damping="2000" frictionloss="0" range="-0.02 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.00006331515602 -0.0001044700074 0.0004273773031" mass="50" fullinertia="0.08509388252 0.4697814509 0.4678563286 -0.00006931594488 0.0002835652291 0.000467882628"/><body name="w3" pos="0.09 0 0.13"><joint name="j_w3" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.0001731 0.00025392 0.0001731"/><geom name="w3_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.046" 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="w3_flangeL" type="cylinder" fromto="0 -0.012 0 0 -0.0156 0" size="0.05" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="w3_flangeR" type="cylinder" fromto="0 0.012 0 0 0.0156 0" size="0.05" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="w2" pos="-0.02 0 0.13"><joint name="j_w2" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.0001116 0.00015552 0.0001116"/><geom name="w2_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.036" 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="w2_flangeL" type="cylinder" fromto="0 -0.012 0 0 -0.0156 0" size="0.04" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="w2_flangeR" type="cylinder" fromto="0 0.012 0 0 0.0156 0" size="0.04" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="w1" pos="-0.11 0 0.13"><joint name="j_w1" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.0000651 0.00008112 0.0000651"/><geom name="w1_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.026" 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="w1_flangeL" type="cylinder" fromto="0 -0.012 0 0 -0.0156 0" size="0.03" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="w1_flangeR" type="cylinder" fromto="0 0.012 0 0 0.0156 0" size="0.03" 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="rope1_l000" pos="0 0 0.749" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="rope1_root"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l000_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l001" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l001_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l002" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l002_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l003" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l003_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l004" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l004_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l005" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l005_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l006" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l006_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l007" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l007_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l008" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l008_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l008_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l009" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l009_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l009_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l010" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l010_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l010_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l011" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l011_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l011_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l012" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l012_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l012_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l013" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l013_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l013_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l014" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l014_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l014_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l015" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l015_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l015_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l016" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l016_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l016_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l017" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l017_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l017_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l018" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l018_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l018_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l019" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l019_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l019_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l020" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l020_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l020_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l021" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l021_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l021_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l022" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l022_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l022_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l023" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l023_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l023_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l024" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l024_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l024_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l025" pos="0.0198512022 0 0" quat="0.9999180611 0 -0.01280121751 0"><joint name="rope1_l025_s" type="slide" axis="0.9996722577 0 -0.02560033718" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009916772113 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.13376616e-8 5.13376616e-8"/><geom name="rope1_l025_c" type="capsule" fromto="0 0 0 0.01983354423 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="rope1_l026" pos="0.01983354423 0 0" quat="0.9875807118 0 -0.1571124998 0"><joint name="rope1_l026_s" type="slide" axis="0.9506313248 0 -0.3103225489" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009860535606 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082019862e-8 5.082019862e-8"/><geom name="rope1_l026_c" type="capsule" fromto="0 0 0 0.01972107121 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="rope1_l027" pos="0.01972107121 0 0" quat="0.9803607695 0 -0.1972124781 0"><joint name="rope1_l027_s" type="slide" axis="0.9222144769 0 -0.3866787537" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00986053643 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082020618e-8 5.082020618e-8"/><geom name="rope1_l027_c" type="capsule" fromto="0 0 0 0.01972107286 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="rope1_l028" pos="0.01972107286 0 0" quat="0.9803612459 0 -0.1972101103 0"><joint name="rope1_l028_s" type="slide" axis="0.9222163448 0 -0.3866742989" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009860533888 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082018285e-8 5.082018285e-8"/><geom name="rope1_l028_c" type="capsule" fromto="0 0 0 0.01972106778 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="rope1_l029" pos="0.01972106778 0 0" quat="0.9803611858 0 -0.1972104087 0"><joint name="rope1_l029_s" type="slide" axis="0.9222161094 0 -0.3866748603" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00986053621 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082020416e-8 5.082020416e-8"/><geom name="rope1_l029_c" type="capsule" fromto="0 0 0 0.01972107242 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="rope1_l030" pos="0.01972107242 0 0" quat="0.9803608296 0 -0.1972121797 0"><joint name="rope1_l030_s" type="slide" axis="0.9222147123 0 -0.3866781922" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009860535173 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082019464e-8 5.082019464e-8"/><geom name="rope1_l030_c" type="capsule" fromto="0 0 0 0.01972107035 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="rope1_l031" pos="0.01972107035 0 0" quat="0.9803614803 0 -0.1972089448 0"><joint name="rope1_l031_s" type="slide" axis="0.9222172642 0 -0.3866721062" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009860536588 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082020762e-8 5.082020762e-8"/><geom name="rope1_l031_c" type="capsule" fromto="0 0 0 0.01972107318 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="rope1_l032" pos="0.01972107318 0 0" quat="0.9803606569 0 -0.1972130383 0"><joint name="rope1_l032_s" type="slide" axis="0.922214035 0 -0.3866798075" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009860537014 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.082021153e-8 5.082021153e-8"/><geom name="rope1_l032_c" type="capsule" fromto="0 0 0 0.01972107403 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="rope1_l033" pos="0.01972107403 0 0" quat="0.9840645499 0 -0.1778115904 0"><joint name="rope1_l033_s" type="slide" axis="0.9367660766 0 -0.3499561654" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009899742096 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.118064842e-8 5.118064842e-8"/><geom name="rope1_l033_c" type="capsule" fromto="0 0 0 0.01979948419 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="rope1_l034" pos="0.01979948419 0 0" quat="0.9995382084 0 -0.03038700336 0"><joint name="rope1_l034_s" type="slide" axis="0.9981532601 0 -0.06074594178" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l034_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l035" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l035_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l035_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l036" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l036_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l036_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l037" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l037_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l037_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l038" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l038_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l038_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l039" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l039_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l039_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l040" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l040_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l040_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l041" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l041_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l041_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l042" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l042_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l042_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l043" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l043_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l043_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l044" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l044_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l044_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l045" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l045_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l045_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l046" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l046_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l046_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l047" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l047_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l047_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l048" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l048_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l048_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l049" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l049_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l049_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l050" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l050_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l050_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l051" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l051_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l051_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l052" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l052_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l052_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l053" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l053_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l053_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l054" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l054_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l054_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l054_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l055" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l055_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l055_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l055_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l056" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l056_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l056_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l057" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l057_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l057_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l058" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l058_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l058_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l059" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l059_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l059_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l060" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l060_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l060_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l061" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l061_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l061_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l062" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l062_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l062_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l063" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l063_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l063_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l064" pos="0.0198512022 0 0" quat="0.9999974132 0 -0.002274562623 0"><joint name="rope1_l064_s" type="slide" axis="0.9999896527 0 -0.004549113478" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925064338 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141421187e-8 5.141421187e-8"/><geom name="rope1_l064_c" type="capsule" fromto="0 0 0 0.01985012868 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="rope1_l065" pos="0.01985012868 0 0" quat="0.9976480852 0 -0.06854413249 0"><joint name="rope1_l065_s" type="slide" axis="0.9906034038 0 -0.1367658451" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909306788 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126879965e-8 5.126879965e-8"/><geom name="rope1_l065_c" type="capsule" fromto="0 0 0 0.01981861358 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="rope1_l066" pos="0.01981861358 0 0" quat="0.9950783649 0 -0.09909110764 0"><joint name="rope1_l066_s" type="slide" axis="0.9803619048 0 -0.1972068347" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909305313 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126878605e-8 5.126878605e-8"/><geom name="rope1_l066_c" type="capsule" fromto="0 0 0 0.01981861063 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="rope1_l067" pos="0.01981861063 0 0" quat="0.9950782779 0 -0.09909198132 0"><joint name="rope1_l067_s" type="slide" axis="0.9803615585 0 -0.1972085563" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909310302 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126883205e-8 5.126883205e-8"/><geom name="rope1_l067_c" type="capsule" fromto="0 0 0 0.0198186206 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="rope1_l068" pos="0.0198186206 0 0" quat="0.9950777609 0 -0.09909717369 0"><joint name="rope1_l068_s" type="slide" axis="0.9803595003 0 -0.1972187874" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909309572 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126882531e-8 5.126882531e-8"/><geom name="rope1_l068_c" type="capsule" fromto="0 0 0 0.01981861914 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="rope1_l069" pos="0.01981861914 0 0" quat="0.9950783649 0 -0.09909110775 0"><joint name="rope1_l069_s" type="slide" axis="0.9803619047 0 -0.197206835" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909304912 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126878235e-8 5.126878235e-8"/><geom name="rope1_l069_c" type="capsule" fromto="0 0 0 0.01981860982 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="rope1_l070" pos="0.01981860982 0 0" quat="0.9950783649 0 -0.09909110769 0"><joint name="rope1_l070_s" type="slide" axis="0.9803619048 0 -0.1972068349" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l070_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909308451 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126881498e-8 5.126881498e-8"/><geom name="rope1_l070_c" type="capsule" fromto="0 0 0 0.0198186169 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="rope1_l071" pos="0.0198186169 0 0" quat="0.9950778554 0 -0.09909622471 0"><joint name="rope1_l071_s" type="slide" axis="0.9803598765 0 -0.1972169175" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l071_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909309969 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126882898e-8 5.126882898e-8"/><geom name="rope1_l071_c" type="capsule" fromto="0 0 0 0.01981861994 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="rope1_l072" pos="0.01981861994 0 0" quat="0.9950781834 0 -0.09909293034 0"><joint name="rope1_l072_s" type="slide" axis="0.9803611823 0 -0.1972104262" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l072_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909305749 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126879007e-8 5.126879007e-8"/><geom name="rope1_l072_c" type="capsule" fromto="0 0 0 0.0198186115 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="rope1_l073" pos="0.0198186115 0 0" quat="0.9950783649 0 -0.09909110763 0"><joint name="rope1_l073_s" type="slide" axis="0.9803619048 0 -0.1972068347" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l073_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909306102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126879333e-8 5.126879333e-8"/><geom name="rope1_l073_c" type="capsule" fromto="0 0 0 0.0198186122 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="rope1_l074" pos="0.0198186122 0 0" quat="0.9950781238 0 -0.09909352875 0"><joint name="rope1_l074_s" type="slide" axis="0.9803609451 0 -0.1972116053" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l074_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909309836 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126882775e-8 5.126882775e-8"/><geom name="rope1_l074_c" type="capsule" fromto="0 0 0 0.01981861967 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="rope1_l075" pos="0.01981861967 0 0" quat="0.995077915 0 -0.09909562633 0"><joint name="rope1_l075_s" type="slide" axis="0.9803601137 0 -0.1972157385" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l075_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909307822 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126880919e-8 5.126880919e-8"/><geom name="rope1_l075_c" type="capsule" fromto="0 0 0 0.01981861564 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="rope1_l076" pos="0.01981861564 0 0" quat="0.9950783649 0 -0.09909110767 0"><joint name="rope1_l076_s" type="slide" axis="0.9803619048 0 -0.1972068348" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l076_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909304991 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126878308e-8 5.126878308e-8"/><geom name="rope1_l076_c" type="capsule" fromto="0 0 0 0.01981860998 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="rope1_l077" pos="0.01981860998 0 0" quat="0.9950783649 0 -0.09909110779 0"><joint name="rope1_l077_s" type="slide" axis="0.9803619047 0 -0.197206835" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l077_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909310357 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126883256e-8 5.126883256e-8"/><geom name="rope1_l077_c" type="capsule" fromto="0 0 0 0.01981862071 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="rope1_l078" pos="0.01981862071 0 0" quat="0.9950777013 0 -0.09909777207 0"><joint name="rope1_l078_s" type="slide" axis="0.9803592631 0 -0.1972199665" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l078_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909310588 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126883468e-8 5.126883468e-8"/><geom name="rope1_l078_c" type="capsule" fromto="0 0 0 0.01981862118 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="rope1_l079" pos="0.01981862118 0 0" quat="0.9950783375 0 -0.09909138291 0"><joint name="rope1_l079_s" type="slide" axis="0.9803617957 0 -0.1972073771" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l079_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009909305117 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.126878425e-8 5.126878425e-8"/><geom name="rope1_l079_c" type="capsule" fromto="0 0 0 0.01981861023 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="rope1_l080" pos="0.01981861023 0 0" quat="0.9957908302 0 -0.0916549096 0"><joint name="rope1_l080_s" type="slide" axis="0.9831987551 0 -0.1825382371" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l080_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009917517755 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.134454243e-8 5.134454243e-8"/><geom name="rope1_l080_c" type="capsule" fromto="0 0 0 0.01983503551 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="rope1_l081" pos="0.01983503551 0 0" quat="0.9998278618 0 -0.01855388654 0"><joint name="rope1_l081_s" type="slide" axis="0.9993115066 0 -0.03710138542" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l081_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l081_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l082" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l082_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l082_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l082_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l083" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l083_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l083_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l083_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l084" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l084_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l084_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l084_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l085" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l085_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l085_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l085_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l086" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l086_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l086_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l086_c" type="capsule" fromto="0 0 0 0.0198512022 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="rope1_l087" pos="0.0198512022 0 0" quat="1 0 0 0"><joint name="rope1_l087_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.00089" damping="400"/><joint name="rope1_l087_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.009925601102 0 0" mass="0.001395773772" diaginertia="1.116619018e-8 5.141916925e-8 5.141916925e-8"/><geom name="rope1_l087_c" type="capsule" fromto="0 0 0 0.0198512022 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 name="rope2_l000" pos="-0.1 0 0.529" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="rope2_root"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l000_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l001" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l001_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l001_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l002" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l002_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l002_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l003" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l003_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l003_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l004" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l004_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l004_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l005" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l005_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l005_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l006" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l006_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l006_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l007" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l007_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l007_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l008" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l008_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l008_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l009" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l009_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l009_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l010" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l010_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l010_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l011" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l011_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l011_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l012" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l012_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l012_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l013" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l013_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l013_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l014" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l014_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l014_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l015" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l015_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l015_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l016" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l016_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l016_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l017" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l017_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l017_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l018" pos="0.01590212014 0 0" quat="0.997699398 0 -0.06779315066 0"><joint name="rope2_l018_s" type="slide" axis="0.9908081774 0 -0.1352743712" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007906197174 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.776415638e-8 2.776415638e-8"/><geom name="rope2_l018_c" type="capsule" fromto="0 0 0 0.01581239435 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="rope2_l019" pos="0.01581239435 0 0" quat="0.9808928096 0 -0.1945489557 0"><joint name="rope2_l019_s" type="slide" axis="0.9243014077 0 -0.3816633435" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00789880048 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772059376e-8 2.772059376e-8"/><geom name="rope2_l019_c" type="capsule" fromto="0 0 0 0.01579760096 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="rope2_l020" pos="0.01579760096 0 0" quat="0.9803091262 0 -0.1974690282 0"><joint name="rope2_l020_s" type="slide" axis="0.9220119658 0 -0.3871613809" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007898798367 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772058133e-8 2.772058133e-8"/><geom name="rope2_l020_c" type="capsule" fromto="0 0 0 0.01579759673 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="rope2_l021" pos="0.01579759673 0 0" quat="0.9803088954 0 -0.197470174 0"><joint name="rope2_l021_s" type="slide" axis="0.9220110607 0 -0.3871635364" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007898799874 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772059019e-8 2.772059019e-8"/><geom name="rope2_l021_c" type="capsule" fromto="0 0 0 0.01579759975 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="rope2_l022" pos="0.01579759975 0 0" quat="0.980308747 0 -0.1974709105 0"><joint name="rope2_l022_s" type="slide" axis="0.922010479 0 -0.3871649218" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007898798763 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772058365e-8 2.772058365e-8"/><geom name="rope2_l022_c" type="capsule" fromto="0 0 0 0.01579759753 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="rope2_l023" pos="0.01579759753 0 0" quat="0.9803092746 0 -0.1974682917 0"><joint name="rope2_l023_s" type="slide" axis="0.9220125476 0 -0.3871599955" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007898801259 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772059835e-8 2.772059835e-8"/><geom name="rope2_l023_c" type="capsule" fromto="0 0 0 0.01579760252 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="rope2_l024" pos="0.01579760252 0 0" quat="0.9803083679 0 -0.1974727928 0"><joint name="rope2_l024_s" type="slide" axis="0.9220089922 0 -0.3871684625" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00789880118 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772059788e-8 2.772059788e-8"/><geom name="rope2_l024_c" type="capsule" fromto="0 0 0 0.01579760236 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="rope2_l025" pos="0.01579760236 0 0" quat="0.9803093031 0 -0.1974681498 0"><joint name="rope2_l025_s" type="slide" axis="0.9220126596 0 -0.3871597286" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007898798998 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.772058504e-8 2.772058504e-8"/><geom name="rope2_l025_c" type="capsule" fromto="0 0 0 0.015797598 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="rope2_l026" pos="0.015797598 0 0" quat="0.9935173852 0 -0.1136802766 0"><joint name="rope2_l026_s" type="slide" axis="0.9741535894 0 -0.2258866623" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00795097324 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802873422e-8 2.802873422e-8"/><geom name="rope2_l026_c" type="capsule" fromto="0 0 0 0.01590194648 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="rope2_l027" pos="0.01590194648 0 0" quat="0.9999998382 0 -0.0005688298743 0"><joint name="rope2_l027_s" type="slide" axis="0.9999993529 0 -0.001137659565" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l027_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l028" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l028_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l028_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l029" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l029_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l029_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l030" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l030_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l030_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l031" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l031_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l031_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l032" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l032_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l032_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l033" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l033_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l033_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l034" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l034_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l034_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l035" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l035_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l035_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l036" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l036_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l036_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l037" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l037_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l037_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l038" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l038_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l038_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l039" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l039_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l039_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l040" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l040_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l040_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l041" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l041_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l041_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l042" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l042_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l042_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l043" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l043_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l043_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l044" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l044_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l044_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l045" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l045_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l045_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l046" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l046_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l046_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l047" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l047_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l047_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l048" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l048_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l048_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l049" pos="0.01590212014 0 0" quat="0.9999999992 0 -0.00004033722329 0"><joint name="rope2_l049_s" type="slide" axis="0.9999999967 0 -0.00008067444651" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951058907 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924185e-8 2.802924185e-8"/><geom name="rope2_l049_c" type="capsule" fromto="0 0 0 0.01590211781 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="rope2_l050" pos="0.01590211781 0 0" quat="0.9986264011 0 -0.05239571649 0"><joint name="rope2_l050_s" type="slide" axis="0.9945093778 0 -0.1046474916" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937972028 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795175726e-8 2.795175726e-8"/><geom name="rope2_l050_c" type="capsule" fromto="0 0 0 0.01587594406 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="rope2_l051" pos="0.01587594406 0 0" quat="0.9950651504 0 -0.09922371887 0"><joint name="rope2_l051_s" type="slide" axis="0.9803093072 0 -0.1974681295" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937970561 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795174858e-8 2.795174858e-8"/><geom name="rope2_l051_c" type="capsule" fromto="0 0 0 0.01587594112 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="rope2_l052" pos="0.01587594112 0 0" quat="0.9950651504 0 -0.09922371888 0"><joint name="rope2_l052_s" type="slide" axis="0.9803093072 0 -0.1974681295" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937972375 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795175932e-8 2.795175932e-8"/><geom name="rope2_l052_c" type="capsule" fromto="0 0 0 0.01587594475 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="rope2_l053" pos="0.01587594475 0 0" quat="0.9950650724 0 -0.09922450193 0"><joint name="rope2_l053_s" type="slide" axis="0.9803089964 0 -0.1974696724" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937976225 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795178209e-8 2.795178209e-8"/><geom name="rope2_l053_c" type="capsule" fromto="0 0 0 0.01587595245 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="rope2_l054" pos="0.01587595245 0 0" quat="0.9950647393 0 -0.09922784194 0"><joint name="rope2_l054_s" type="slide" axis="0.9803076708 0 -0.1974762533" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l054_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937975489 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795177773e-8 2.795177773e-8"/><geom name="rope2_l054_c" type="capsule" fromto="0 0 0 0.01587595098 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="rope2_l055" pos="0.01587595098 0 0" quat="0.9950651504 0 -0.09922371904 0"><joint name="rope2_l055_s" type="slide" axis="0.9803093072 0 -0.1974681298" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l055_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00793797144 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795175378e-8 2.795175378e-8"/><geom name="rope2_l055_c" type="capsule" fromto="0 0 0 0.01587594288 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="rope2_l056" pos="0.01587594288 0 0" quat="0.9950651504 0 -0.09922371885 0"><joint name="rope2_l056_s" type="slide" axis="0.9803093072 0 -0.1974681294" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937970672 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795174924e-8 2.795174924e-8"/><geom name="rope2_l056_c" type="capsule" fromto="0 0 0 0.01587594134 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="rope2_l057" pos="0.01587594134 0 0" quat="0.9950651504 0 -0.09922371892 0"><joint name="rope2_l057_s" type="slide" axis="0.9803093072 0 -0.1974681296" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937973187 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795176412e-8 2.795176412e-8"/><geom name="rope2_l057_c" type="capsule" fromto="0 0 0 0.01587594637 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="rope2_l058" pos="0.01587594637 0 0" quat="0.9950649681 0 -0.09922554789 0"><joint name="rope2_l058_s" type="slide" axis="0.9803085813 0 -0.1974717333" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937976067 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795178115e-8 2.795178115e-8"/><geom name="rope2_l058_c" type="capsule" fromto="0 0 0 0.01587595213 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="rope2_l059" pos="0.01587595213 0 0" quat="0.9950648436 0 -0.09922679602 0"><joint name="rope2_l059_s" type="slide" axis="0.9803080859 0 -0.1974741925" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00793797435 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.7951771e-8 2.7951771e-8"/><geom name="rope2_l059_c" type="capsule" fromto="0 0 0 0.0158759487 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="rope2_l060" pos="0.0158759487 0 0" quat="0.9950651504 0 -0.09922371898 0"><joint name="rope2_l060_s" type="slide" axis="0.9803093072 0 -0.1974681297" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937971001 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795175118e-8 2.795175118e-8"/><geom name="rope2_l060_c" type="capsule" fromto="0 0 0 0.015875942 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="rope2_l061" pos="0.015875942 0 0" quat="0.9950651504 0 -0.09922371884 0"><joint name="rope2_l061_s" type="slide" axis="0.9803093072 0 -0.1974681294" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937970933 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795175078e-8 2.795175078e-8"/><geom name="rope2_l061_c" type="capsule" fromto="0 0 0 0.01587594187 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="rope2_l062" pos="0.01587594187 0 0" quat="0.9950651504 0 -0.09922371897 0"><joint name="rope2_l062_s" type="slide" axis="0.9803093072 0 -0.1974681297" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937974147 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.79517698e-8 2.79517698e-8"/><geom name="rope2_l062_c" type="capsule" fromto="0 0 0 0.01587594829 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="rope2_l063" pos="0.01587594829 0 0" quat="0.9950648638 0 -0.09922659383 0"><joint name="rope2_l063_s" type="slide" axis="0.9803081662 0 -0.1974737941" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937976053 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795178107e-8 2.795178107e-8"/><geom name="rope2_l063_c" type="capsule" fromto="0 0 0 0.01587595211 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="rope2_l064" pos="0.01587595211 0 0" quat="0.9950649479 0 -0.09922575009 0"><joint name="rope2_l064_s" type="slide" axis="0.980308501 0 -0.1974721317" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007937973361 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.795176515e-8 2.795176515e-8"/><geom name="rope2_l064_c" type="capsule" fromto="0 0 0 0.01587594672 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="rope2_l065" pos="0.01587594672 0 0" quat="0.9953065738 0 -0.0967720214 0"><joint name="rope2_l065_s" type="slide" axis="0.9812703517 0 -0.1926356581" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007940806536 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.796852894e-8 2.796852894e-8"/><geom name="rope2_l065_c" type="capsule" fromto="0 0 0 0.01588161307 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="rope2_l066" pos="0.01588161307 0 0" quat="0.9995507796 0 -0.02997063493 0"><joint name="rope2_l066_s" type="slide" axis="0.9982035221 0 -0.05991434303" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l066_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l067" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l067_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l067_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l068" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l068_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l068_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l069" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l069_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l069_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l070" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l070_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l070_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l070_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l071" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l071_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l071_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l071_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l072" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l072_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l072_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l072_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l073" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l073_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l073_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l073_c" type="capsule" fromto="0 0 0 0.01590212014 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="rope2_l074" pos="0.01590212014 0 0" quat="1 0 0 0"><joint name="rope2_l074_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00037" damping="400"/><joint name="rope2_l074_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007951060068 0 0" mass="0.001117900371" diaginertia="8.943202966e-9 2.802924873e-8 2.802924873e-8"/><geom name="rope2_l074_c" type="capsule" fromto="0 0 0 0.01590212014 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 name="rope3_l000" pos="-0.18 0 0.329" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="rope3_root"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l000_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l001" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l001_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l001_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l002" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l002_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l002_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l003" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l003_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l003_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l004" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l004_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l004_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l005" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l005_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l005_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l006" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l006_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l006_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l007" pos="0.01189014814 0 0" quat="0.9996557383 0 -0.0262374716 0"><joint name="rope3_l007_s" type="slide" axis="0.9986231902 0 -0.05245687809" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00593204664 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.314293683e-8 1.314293683e-8"/><geom name="rope3_l007_c" type="capsule" fromto="0 0 0 0.01186409328 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="rope3_l008" pos="0.01186409328 0 0" quat="0.984750261 0 -0.1739739161 0"><joint name="rope3_l008_s" type="slide" axis="0.939466153 0 -0.3426417186" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906234756 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305783118e-8 1.305783118e-8"/><geom name="rope3_l008_c" type="capsule" fromto="0 0 0 0.01181246951 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="rope3_l009" pos="0.01181246951 0 0" quat="0.9804287363 0 -0.1968743077 0"><joint name="rope3_l009_s" type="slide" axis="0.922481014 0 -0.3860424573" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906236747 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305783773e-8 1.305783773e-8"/><geom name="rope3_l009_c" type="capsule" fromto="0 0 0 0.01181247349 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="rope3_l010" pos="0.01181247349 0 0" quat="0.9804285857 0 -0.1968750575 0"><joint name="rope3_l010_s" type="slide" axis="0.9224804234 0 -0.3860438684" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906238847 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305784464e-8 1.305784464e-8"/><geom name="rope3_l010_c" type="capsule" fromto="0 0 0 0.01181247769 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="rope3_l011" pos="0.01181247769 0 0" quat="0.9804284573 0 -0.196875697 0"><joint name="rope3_l011_s" type="slide" axis="0.9224799199 0 -0.3860450717" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906237715 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305784091e-8 1.305784091e-8"/><geom name="rope3_l011_c" type="capsule" fromto="0 0 0 0.01181247543 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="rope3_l012" pos="0.01181247543 0 0" quat="0.9804287363 0 -0.1968743076 0"><joint name="rope3_l012_s" type="slide" axis="0.922481014 0 -0.3860424572" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906235149 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305783247e-8 1.305783247e-8"/><geom name="rope3_l012_c" type="capsule" fromto="0 0 0 0.0118124703 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="rope3_l013" pos="0.0118124703 0 0" quat="0.9804287363 0 -0.1968743077 0"><joint name="rope3_l013_s" type="slide" axis="0.9224810139 0 -0.3860424575" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906234507 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305783036e-8 1.305783036e-8"/><geom name="rope3_l013_c" type="capsule" fromto="0 0 0 0.01181246901 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="rope3_l014" pos="0.01181246901 0 0" quat="0.9804287363 0 -0.1968743077 0"><joint name="rope3_l014_s" type="slide" axis="0.9224810139 0 -0.3860424574" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005906235787 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.305783457e-8 1.305783457e-8"/><geom name="rope3_l014_c" type="capsule" fromto="0 0 0 0.01181247157 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="rope3_l015" pos="0.01181247157 0 0" quat="0.986598781 0 -0.1631650863 0"><joint name="rope3_l015_s" type="slide" axis="0.9467543092 0 -0.3219569505" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005937567223 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.316118719e-8 1.316118719e-8"/><geom name="rope3_l015_c" type="capsule" fromto="0 0 0 0.01187513445 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="rope3_l016" pos="0.01187513445 0 0" quat="0.9998592393 0 -0.01677800701 0"><joint name="rope3_l016_s" type="slide" axis="0.999436997 0 -0.03355129065" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l016_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l017" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l017_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l017_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l018" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l018_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l018_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l019" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l019_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l019_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l020" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l020_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l020_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l021" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l021_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l021_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l022" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l022_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l022_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l023" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l023_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l023_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l024" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l024_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l024_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l025" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l025_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l025_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l026" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l026_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l026_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l027" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l027_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l027_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l028" pos="0.01189014814 0 0" quat="0.9999996276 0 -0.0008629753856 0"><joint name="rope3_l028_s" type="slide" axis="0.9999985105 0 -0.001725950128" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005944993313 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.31857637e-8 1.31857637e-8"/><geom name="rope3_l028_c" type="capsule" fromto="0 0 0 0.01188998663 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="rope3_l029" pos="0.01188998663 0 0" quat="0.9980951527 0 -0.0616933242 0"><joint name="rope3_l029_s" type="slide" axis="0.9923878675 0 -0.1231516157" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935348491 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.31538503e-8 1.31538503e-8"/><geom name="rope3_l029_c" type="capsule" fromto="0 0 0 0.01187069698 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="rope3_l030" pos="0.01187069698 0 0" quat="0.9950948123 0 -0.09892580352 0"><joint name="rope3_l030_s" type="slide" axis="0.9804273708 0 -0.1968811078" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935349063 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385219e-8 1.315385219e-8"/><geom name="rope3_l030_c" type="capsule" fromto="0 0 0 0.01187069813 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="rope3_l031" pos="0.01187069813 0 0" quat="0.9950952807 0 -0.09892109105 0"><joint name="rope3_l031_s" type="slide" axis="0.9804292355 0 -0.1968718217" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935347437 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384681e-8 1.315384681e-8"/><geom name="rope3_l031_c" type="capsule" fromto="0 0 0 0.01187069487 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="rope3_l032" pos="0.01187069487 0 0" quat="0.9950952484 0 -0.09892141658 0"><joint name="rope3_l032_s" type="slide" axis="0.9804291067 0 -0.1968724632" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935348992 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385195e-8 1.315385195e-8"/><geom name="rope3_l032_c" type="capsule" fromto="0 0 0 0.01187069798 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="rope3_l033" pos="0.01187069798 0 0" quat="0.9950948446 0 -0.098925478 0"><joint name="rope3_l033_s" type="slide" axis="0.9804274996 0 -0.1968804663" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935348346 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384982e-8 1.315384982e-8"/><geom name="rope3_l033_c" type="capsule" fromto="0 0 0 0.01187069669 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="rope3_l034" pos="0.01187069669 0 0" quat="0.9950955229 0 -0.09891865517 0"><joint name="rope3_l034_s" type="slide" axis="0.9804301993 0 -0.1968670218" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0059353489 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385165e-8 1.315385165e-8"/><geom name="rope3_l034_c" type="capsule" fromto="0 0 0 0.0118706978 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="rope3_l035" pos="0.0118706978 0 0" quat="0.9950947317 0 -0.09892661368 0"><joint name="rope3_l035_s" type="slide" axis="0.9804270502 0 -0.1968827042" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935349284 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385292e-8 1.315385292e-8"/><geom name="rope3_l035_c" type="capsule" fromto="0 0 0 0.01187069857 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="rope3_l036" pos="0.01187069857 0 0" quat="0.9950953613 0 -0.09892028087 0"><joint name="rope3_l036_s" type="slide" axis="0.9804295561 0 -0.1968702253" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935347484 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384697e-8 1.315384697e-8"/><geom name="rope3_l036_c" type="capsule" fromto="0 0 0 0.01187069497 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="rope3_l037" pos="0.01187069497 0 0" quat="0.9950951678 0 -0.09892222676 0"><joint name="rope3_l037_s" type="slide" axis="0.9804287861 0 -0.1968740597" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935348862 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385152e-8 1.315385152e-8"/><geom name="rope3_l037_c" type="capsule" fromto="0 0 0 0.01187069772 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="rope3_l038" pos="0.01187069772 0 0" quat="0.9950949252 0 -0.09892466783 0"><joint name="rope3_l038_s" type="slide" axis="0.9804278202 0 -0.1968788699" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00593534803 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384877e-8 1.315384877e-8"/><geom name="rope3_l038_c" type="capsule" fromto="0 0 0 0.01187069606 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="rope3_l039" pos="0.01187069606 0 0" quat="0.9950955229 0 -0.09891865518 0"><joint name="rope3_l039_s" type="slide" axis="0.9804301993 0 -0.1968670218" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935349377 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385322e-8 1.315385322e-8"/><geom name="rope3_l039_c" type="capsule" fromto="0 0 0 0.01187069875 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="rope3_l040" pos="0.01187069875 0 0" quat="0.9950946512 0 -0.09892742383 0"><joint name="rope3_l040_s" type="slide" axis="0.9804267296 0 -0.1968843006" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00593534957 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385386e-8 1.315385386e-8"/><geom name="rope3_l040_c" type="capsule" fromto="0 0 0 0.01187069914 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="rope3_l041" pos="0.01187069914 0 0" quat="0.9950954418 0 -0.09891947068 0"><joint name="rope3_l041_s" type="slide" axis="0.9804298766 0 -0.1968686288" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935347598 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384734e-8 1.315384734e-8"/><geom name="rope3_l041_c" type="capsule" fromto="0 0 0 0.0118706952 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="rope3_l042" pos="0.0118706952 0 0" quat="0.9950950873 0 -0.09892303693 0"><joint name="rope3_l042_s" type="slide" axis="0.9804284655 0 -0.1968756561" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935348797 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315385131e-8 1.315385131e-8"/><geom name="rope3_l042_c" type="capsule" fromto="0 0 0 0.01187069759 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="rope3_l043" pos="0.01187069759 0 0" quat="0.9950950057 0 -0.09892385766 0"><joint name="rope3_l043_s" type="slide" axis="0.9804281408 0 -0.1968772734" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005935347781 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.315384795e-8 1.315384795e-8"/><geom name="rope3_l043_c" type="capsule" fromto="0 0 0 0.01187069556 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="rope3_l044" pos="0.01187069556 0 0" quat="0.9954673166 0 -0.09510426665 0"><joint name="rope3_l044_s" type="slide" axis="0.9819103569 0 -0.1893463782" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005938364518 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.316382435e-8 1.316382435e-8"/><geom name="rope3_l044_c" type="capsule" fromto="0 0 0 0.01187672904 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="rope3_l045" pos="0.01187672904 0 0" quat="0.9996681209 0 -0.02576136764 0"><joint name="rope3_l045_s" type="slide" axis="0.9986727039 0 -0.05150563596" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l045_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l046" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l046_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l046_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l047" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l047_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l047_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l048" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l048_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l048_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l049" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l049_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l049_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l050" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l050_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l050_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l051" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l051_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l051_c" type="capsule" fromto="0 0 0 0.01189014814 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="rope3_l052" pos="0.01189014814 0 0" quat="1 0 0 0"><joint name="rope3_l052_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.000159" damping="400"/><joint name="rope3_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00594507407 0 0" mass="0.00083554774" diaginertia="6.68438192e-9 1.318603114e-8 1.318603114e-8"/><geom name="rope3_l052_c" type="capsule" fromto="0 0 0 0.01189014814 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>
</worldbody>
<equality><connect name="rope1_eyeA" body1="rope1_l000" body2="ceiling" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope1_eyeB" body1="rope1_l087" body2="block_b" anchor="0.0198512022 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope2_eyeA" body1="rope2_l000" body2="block_b" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope2_eyeB" body1="rope2_l074" body2="block_c" anchor="0.01590212014 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope3_eyeA" body1="rope3_l000" body2="block_c" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope3_eyeB" body1="rope3_l052" body2="hand" anchor="0.01189014814 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope1_l000" body2="ceiling"/><exclude body1="rope1_l087" body2="block_b"/><exclude body1="rope2_l000" body2="block_b"/><exclude body1="rope2_l074" body2="block_c"/><exclude body1="rope3_l000" body2="block_c"/><exclude body1="rope3_l052" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-400 400"/></actuator>
</mujoco>
