<mujoco model="21-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="-0.167 0 -0.45" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.02 0.4"/><inertial pos="0.005284152638 0 0.01246953478" mass="0.9" fullinertia="0.0003917537192 0.0004391548578 0.0001688506641 0 -0.0001123787895 0"/><geom name="hand_rod0" type="capsule" fromto="0.0089 0 0.015 -0.0091 0 -0.015" size="0.019" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0.0139 0 0.032 0.0089 0 0.015" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="0.0209 0 0.056 0.0139 0 0.032" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="ceiling" pos="0 0 0"></body>
<body name="top" pos="0 0 0"><joint name="j_top" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1.5" diaginertia="0.002886 0.0044376 0.002886"/><geom name="top_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.086" 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="top_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.0915" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="top_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.0915" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="sheave" pos="-0.09 0 -0.24"><joint name="j_sheave" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.16 0.04"/><joint name="sheave_spin" type="hinge" axis="0 1 0" damping="0.004" frictionloss="0.01"/><inertial pos="0 0 0" mass="1" diaginertia="0.00140725 0.0021316 0.00140725"/><geom name="sheave_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.073" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.078" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.078" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="load" pos="0.0375 0 -0.798"><joint name="j_load" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.08 0.16" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.00000153832105 0.0005555432118 0.000133105253" mass="20" fullinertia="0.04024754159 0.1331118037 0.1169804504 1.709207634e-8 -0.000002658009888 0.000001478914395"/></body>
<body name="standing_l000" pos="-0.09 0 -0.24" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="standing_root"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l000_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l001" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l001_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l001_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l002" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l002_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l002_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l003" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l003_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l004" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l004_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l004_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l005" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l005_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l005_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l006" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l006_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l006_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l007" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l007_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l007_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l008" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l008_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l008_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l009" pos="0.02649339898 0 0" quat="0.9978762355 0 0.06513845731 0"><joint name="standing_l009_s" type="slide" axis="0.9915139628 0 0.1300002371" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319983613 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.15641341e-7 1.15641341e-7"/><geom name="standing_l009_c" type="capsule" fromto="0 0 0 0.02639967226 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l010" pos="0.02639967226 0 0" quat="0.989225158 0 0.1464021409 0"><joint name="standing_l010_s" type="slide" axis="0.9571328263 0 0.2896493619" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319891549 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156262498e-7 1.156262498e-7"/><geom name="standing_l010_c" type="capsule" fromto="0 0 0 0.02639783098 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l011" pos="0.02639783098 0 0" quat="0.9891877448 0 0.1466547154 0"><joint name="standing_l011_s" type="slide" axis="0.9569847889 0 0.2901380944" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319891702 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.15626275e-7 1.15626275e-7"/><geom name="standing_l011_c" type="capsule" fromto="0 0 0 0.02639783405 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l012" pos="0.02639783405 0 0" quat="0.9891877448 0 0.1466547154 0"><joint name="standing_l012_s" type="slide" axis="0.9569847889 0 0.2901380944" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319891887 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156263052e-7 1.156263052e-7"/><geom name="standing_l012_c" type="capsule" fromto="0 0 0 0.02639783774 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l013" pos="0.02639783774 0 0" quat="0.9891877448 0 0.1466547154 0"><joint name="standing_l013_s" type="slide" axis="0.9569847889 0 0.2901380944" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892102 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156263405e-7 1.156263405e-7"/><geom name="standing_l013_c" type="capsule" fromto="0 0 0 0.02639784205 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l014" pos="0.02639784205 0 0" quat="0.9891877448 0 0.1466547155 0"><joint name="standing_l014_s" type="slide" axis="0.9569847889 0 0.2901380945" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892349 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156263809e-7 1.156263809e-7"/><geom name="standing_l014_c" type="capsule" fromto="0 0 0 0.02639784698 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l015" pos="0.02639784698 0 0" quat="0.9891877448 0 0.1466547155 0"><joint name="standing_l015_s" type="slide" axis="0.9569847888 0 0.2901380946" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892626 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156264264e-7 1.156264264e-7"/><geom name="standing_l015_c" type="capsule" fromto="0 0 0 0.02639785253 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l016" pos="0.02639785253 0 0" quat="0.9891876357 0 0.1466554513 0"><joint name="standing_l016_s" type="slide" axis="0.9569843572 0 0.2901395182" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892643 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156264292e-7 1.156264292e-7"/><geom name="standing_l016_c" type="capsule" fromto="0 0 0 0.02639785287 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l017" pos="0.02639785287 0 0" quat="0.9891877377 0 0.1466547632 0"><joint name="standing_l017_s" type="slide" axis="0.9569847609 0 0.2901381869" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892381 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156263862e-7 1.156263862e-7"/><geom name="standing_l017_c" type="capsule" fromto="0 0 0 0.02639784762 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l018" pos="0.02639784762 0 0" quat="0.9891877448 0 0.1466547155 0"><joint name="standing_l018_s" type="slide" axis="0.9569847889 0 0.2901380945" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01319892131 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.156263452e-7 1.156263452e-7"/><geom name="standing_l018_c" type="capsule" fromto="0 0 0 0.02639784261 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l019" pos="0.02639784261 0 0" quat="0.9899528946 0 0.1413975477 0"><joint name="standing_l019_s" type="slide" axis="0.960013467 0 0.2799538233" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0132129585 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.158565582e-7 1.158565582e-7"/><geom name="standing_l019_c" type="capsule" fromto="0 0 0 0.02642591701 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l020" pos="0.02642591701 0 0" quat="0.999226945 0 0.03931300483 0"><joint name="standing_l020_s" type="slide" axis="0.9969089753 0 0.07856522744" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l020_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l021" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l021_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l021_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l022" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l022_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l022_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="standing_l023" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l023_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l023_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="standing_l025" pos="0.02649339898 0 0" quat="1 0 0 0"><joint name="standing_l025_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000335" damping="3000"/><joint name="standing_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01324669949 0 0" mass="0.001862822604" diaginertia="1.490258084e-8 1.164109187e-7 1.164109187e-7"/><geom name="standing_l025_c" type="capsule" fromto="0 0 0 0.02649339898 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="haul_l000" pos="-0.013 0 -0.707" quat="0.7071067812 0 -0.7071067812 0">
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<body name="haul_l036" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l036_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l036_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l037" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l037_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l037_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l038" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l038_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l038_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l039" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l039_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l039_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l040" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l040_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l040_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l041" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l041_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l041_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l042" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l042_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l042_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="haul_l043" pos="0.02080949086 0 0" quat="1 0 0 0"><joint name="haul_l043_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.000155" damping="3000"/><joint name="haul_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01040474543 0 0" mass="0.001463244414" diaginertia="1.170595531e-8 5.865597043e-8 5.865597043e-8"/><geom name="haul_l043_c" type="capsule" fromto="0 0 0 0.02080949086 0 0" size="0.004" contype="2" conaffinity="0" friction="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>
</worldbody>
<equality><connect name="standing_eyeA" body1="standing_l000" body2="sheave" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="standing_eyeB" body1="standing_l045" body2="load" anchor="0.02649339898 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="haul_eyeA" body1="haul_l000" body2="load" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="haul_eyeB" body1="haul_l043" body2="hand" anchor="0.02080949086 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="standing_l000" body2="sheave"/><exclude body1="standing_l045" body2="load"/><exclude body1="standing_l000" body2="sheave"/><exclude body1="standing_l001" body2="sheave"/><exclude body1="standing_l002" body2="sheave"/><exclude body1="haul_l000" body2="load"/><exclude body1="haul_l043" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
