<mujoco model="20-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="0.105 0 0.22" 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 -0.01844869141" mass="0.9" fullinertia="0.0005478439851 0.0005478439851 0.0001134574609 0 0 0"/><geom name="hand_rod0" type="capsule" fromto="0 0 0.015 0 0 -0.015" size="0.019" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0 0 -0.015 0 0 -0.034" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="0 0 -0.034 0 0 -0.07" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="ceiling" pos="0 0 0"></body>
<body name="sheave_a" pos="0.26 0 0.74"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.9" diaginertia="0.00117 0.001764 0.00117"/><geom name="sheave_a_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" 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="0.075" 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="0.075" 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="0.22 0 0.52"><joint name="j_b" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.14 0.04" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.02427842393 0 0.05830447639" mass="1" fullinertia="0.001823148229 0.001907062255 0.0002002332164 0 0.0003936618104 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="0.8" diaginertia="0.00104 0.001568 0.00104"/><geom name="sheave_b_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" 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="0.075" 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="0.075" 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 0.3"><joint name="j_c" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.12 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.02427842393 0 0.05830447639" mass="1" fullinertia="0.001823148229 0.001907062255 0.0002002332164 0 0.0003936618104 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="0.8" diaginertia="0.00104 0.001568 0.00104"/><geom name="sheave_c_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" 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="0.075" 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="0.075" 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="0.3 0 0.165"><joint name="j_load" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.06 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.00002877983706 0.000005785441144 0.0003147084663" mass="20" fullinertia="0.02434441378 0.04634080272 0.04320928526 -0.00000116041831 0.00002928786784 -0.000005401900129"/></body>
<body name="rope1_l000" pos="0.185 0 0.615" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="rope1_root"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l000_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l001" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l001_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l001_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l002" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l002_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l002_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l003" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l003_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l004" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l004_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l004_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l005" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l005_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l005_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l006" pos="0.01685445878 0 0" quat="1 0 0 0"><joint name="rope1_l006_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008427229391 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.542358587e-8 5.542358587e-8"/><geom name="rope1_l006_c" type="capsule" fromto="0 0 0 0.01685445878 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l007" pos="0.01685445878 0 0" quat="0.9998170322 0 0.01912857062 0"><joint name="rope1_l007_s" type="slide" axis="0.9992681956 0 0.0382501414" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008419303948 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.53411519e-8 5.53411519e-8"/><geom name="rope1_l007_c" type="capsule" fromto="0 0 0 0.0168386079 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l008" pos="0.0168386079 0 0" quat="0.9947390796 0 0.102441025 0"><joint name="rope1_l008_s" type="slide" axis="0.9790116728 0 0.2038041818" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409507065 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523935994e-8 5.523935994e-8"/><geom name="rope1_l008_c" type="capsule" fromto="0 0 0 0.01681901413 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l009" pos="0.01681901413 0 0" quat="0.9936934794 0 0.1121305894 0"><joint name="rope1_l009_s" type="slide" axis="0.9748534618 0 0.2228468711" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00840950716 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523936093e-8 5.523936093e-8"/><geom name="rope1_l009_c" type="capsule" fromto="0 0 0 0.01681901432 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l010" pos="0.01681901432 0 0" quat="0.9936940395 0 0.1121256253 0"><joint name="rope1_l010_s" type="slide" axis="0.9748556883 0 0.2228371312" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502344 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523931092e-8 5.523931092e-8"/><geom name="rope1_l010_c" type="capsule" fromto="0 0 0 0.01681900469 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l011" pos="0.01681900469 0 0" quat="0.9936940509 0 0.1121255241 0"><joint name="rope1_l011_s" type="slide" axis="0.9748557337 0 0.2228369326" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502223 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523930966e-8 5.523930966e-8"/><geom name="rope1_l011_c" type="capsule" fromto="0 0 0 0.01681900445 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l012" pos="0.01681900445 0 0" quat="0.9936940509 0 0.1121255239 0"><joint name="rope1_l012_s" type="slide" axis="0.9748557338 0 0.2228369322" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00840950699 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523935916e-8 5.523935916e-8"/><geom name="rope1_l012_c" type="capsule" fromto="0 0 0 0.01681901398 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l013" pos="0.01681901398 0 0" quat="0.9936934854 0 0.1121305359 0"><joint name="rope1_l013_s" type="slide" axis="0.9748534858 0 0.2228467662" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409507135 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523936067e-8 5.523936067e-8"/><geom name="rope1_l013_c" type="capsule" fromto="0 0 0 0.01681901427 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l014" pos="0.01681901427 0 0" quat="0.9936940335 0 0.1121256788 0"><joint name="rope1_l014_s" type="slide" axis="0.9748556643 0 0.2228372361" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502371 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.52393112e-8 5.52393112e-8"/><geom name="rope1_l014_c" type="capsule" fromto="0 0 0 0.01681900474 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l015" pos="0.01681900474 0 0" quat="0.9936940509 0 0.1121255241 0"><joint name="rope1_l015_s" type="slide" axis="0.9748557337 0 0.2228369326" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502199 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523930942e-8 5.523930942e-8"/><geom name="rope1_l015_c" type="capsule" fromto="0 0 0 0.0168190044 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l016" pos="0.0168190044 0 0" quat="0.9936940509 0 0.1121255239 0"><joint name="rope1_l016_s" type="slide" axis="0.9748557338 0 0.2228369322" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409506915 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523935839e-8 5.523935839e-8"/><geom name="rope1_l016_c" type="capsule" fromto="0 0 0 0.01681901383 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l017" pos="0.01681901383 0 0" quat="0.9936934914 0 0.1121304824 0"><joint name="rope1_l017_s" type="slide" axis="0.9748535098 0 0.2228466612" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409507111 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523936042e-8 5.523936042e-8"/><geom name="rope1_l017_c" type="capsule" fromto="0 0 0 0.01681901422 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l018" pos="0.01681901422 0 0" quat="0.9936940274 0 0.1121257323 0"><joint name="rope1_l018_s" type="slide" axis="0.9748556403 0 0.2228373411" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502398 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523931148e-8 5.523931148e-8"/><geom name="rope1_l018_c" type="capsule" fromto="0 0 0 0.0168190048 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope1_l019" pos="0.0168190048 0 0" quat="0.9936940509 0 0.1121255241 0"><joint name="rope1_l019_s" type="slide" axis="0.9748557337 0 0.2228369326" stiffness="400000" springref="-0.0003125" damping="3000"/><joint name="rope1_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008409502176 0 0" mass="0.001852223466" diaginertia="2.315279332e-8 5.523930917e-8 5.523930917e-8"/><geom name="rope1_l019_c" type="capsule" fromto="0 0 0 0.01681900435 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope2_l000" pos="0.145 0 0.395" quat="0.7071067812 0 -0.7071067812 0">
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<body name="rope3_l000" pos="0.105 0 0.22" quat="0.7071067812 0 -0.7071067812 0">
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<body name="rope3_l015" pos="0.01420392519 0 0" quat="0.9955066039 0 0.09469214107 0"><joint name="rope3_l015_s" type="slide" axis="0.9820667968 0 0.1885333036" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101960655 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604209732e-8 3.604209732e-8"/><geom name="rope3_l015_c" type="capsule" fromto="0 0 0 0.01420392131 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l016" pos="0.01420392131 0 0" quat="0.9955066039 0 0.09469214101 0"><joint name="rope3_l016_s" type="slide" axis="0.9820667969 0 0.1885333034" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101960827 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604209859e-8 3.604209859e-8"/><geom name="rope3_l016_c" type="capsule" fromto="0 0 0 0.01420392165 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l017" pos="0.01420392165 0 0" quat="0.9955066039 0 0.0946921411 0"><joint name="rope3_l017_s" type="slide" axis="0.9820667968 0 0.1885333036" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00710196311 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604211549e-8 3.604211549e-8"/><geom name="rope3_l017_c" type="capsule" fromto="0 0 0 0.01420392622 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l018" pos="0.01420392622 0 0" quat="0.9955064961 0 0.09469327471 0"><joint name="rope3_l018_s" type="slide" axis="0.9820663675 0 0.1885355402" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101965963 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.60421366e-8 3.60421366e-8"/><geom name="rope3_l018_c" type="capsule" fromto="0 0 0 0.01420393193 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l019" pos="0.01420393193 0 0" quat="0.9955062966 0 0.09469537168 0"><joint name="rope3_l019_s" type="slide" axis="0.9820655732 0 0.1885396775" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101964958 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604212916e-8 3.604212916e-8"/><geom name="rope3_l019_c" type="capsule" fromto="0 0 0 0.01420392992 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l020" pos="0.01420392992 0 0" quat="0.9955066039 0 0.0946921412 0"><joint name="rope3_l020_s" type="slide" axis="0.9820667968 0 0.1885333038" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101961661 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604210476e-8 3.604210476e-8"/><geom name="rope3_l020_c" type="capsule" fromto="0 0 0 0.01420392332 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l021" pos="0.01420392332 0 0" quat="0.9955066039 0 0.09469214103 0"><joint name="rope3_l021_s" type="slide" axis="0.9820667969 0 0.1885333035" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007101960474 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.604209598e-8 3.604209598e-8"/><geom name="rope3_l021_c" type="capsule" fromto="0 0 0 0.01420392095 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l022" pos="0.01420392095 0 0" quat="0.9979838288 0 0.06346871205 0"><joint name="rope3_l022_s" type="slide" axis="0.9919434452 0 0.1266814965" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007112380851 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.611925566e-8 3.611925566e-8"/><geom name="rope3_l022_c" type="capsule" fromto="0 0 0 0.0142247617 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l023" pos="0.0142247617 0 0" quat="0.9999986125 0 0.00166585356 0"><joint name="rope3_l023_s" type="slide" axis="0.9999944499 0 0.003331702496" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00711262244 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.612104589e-8 3.612104589e-8"/><geom name="rope3_l023_c" type="capsule" fromto="0 0 0 0.01422524488 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l024" pos="0.01422524488 0 0" quat="1 0 0 0"><joint name="rope3_l024_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00711262244 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.612104589e-8 3.612104589e-8"/><geom name="rope3_l024_c" type="capsule" fromto="0 0 0 0.01422524488 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l025" pos="0.01422524488 0 0" quat="1 0 0 0"><joint name="rope3_l025_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00711262244 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.612104589e-8 3.612104589e-8"/><geom name="rope3_l025_c" type="capsule" fromto="0 0 0 0.01422524488 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l026" pos="0.01422524488 0 0" quat="1 0 0 0"><joint name="rope3_l026_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00711262244 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.612104589e-8 3.612104589e-8"/><geom name="rope3_l026_c" type="capsule" fromto="0 0 0 0.01422524488 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope3_l027" pos="0.01422524488 0 0" quat="1 0 0 0"><joint name="rope3_l027_s" type="slide" axis="1 0 0" stiffness="150000" springref="-0.00012" damping="3000"/><joint name="rope3_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00711262244 0 0" mass="0.001562793172" diaginertia="1.953491465e-8 3.612104589e-8 3.612104589e-8"/><geom name="rope3_l027_c" type="capsule" fromto="0 0 0 0.01422524488 0 0" size="0.005" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="rope1_eyeA" body1="rope1_l000" body2="block_b" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope1_eyeB" body1="rope1_l051" body2="load" anchor="0.01685445878 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope2_eyeA" body1="rope2_l000" body2="block_c" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope2_eyeB" body1="rope2_l037" body2="load" anchor="0.01736498307 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope3_eyeA" body1="rope3_l000" body2="hand" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope3_eyeB" body1="rope3_l027" body2="load" anchor="0.01422524488 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope1_l000" body2="block_b"/><exclude body1="rope1_l051" body2="load"/><exclude body1="rope2_l000" body2="block_c"/><exclude body1="rope2_l037" body2="load"/><exclude body1="rope3_l000" body2="hand"/><exclude body1="rope3_l027" body2="load"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-400 400"/></actuator>
</mujoco>
