<mujoco model="126-bell-crank-lever">
<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="bag" pos="-0.074 0 0.14"><joint name="j_bag" type="slide" axis="0 0 1" damping="3" frictionloss="0" range="-0.12 0.14"/><inertial pos="0 0 0" mass="2" diaginertia="0.005458666667 0.006202666667 0.005458666667"/><geom name="bag_g" type="box" size="0.044 0.044 0.08" contype="0" conaffinity="0" group="2" mass="0"/></body>
<body name="pulley" pos="0 0 0.34"><joint name="j_pulley" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.001048266667 0.001568 0.001048266667"/><geom name="pulley_rim" condim="3" type="capsule" fromto="0 -0.016 0 0 0.016 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="pulley_flangeL" type="cylinder" fromto="0 -0.016 0 0 -0.0208 0" size="0.075" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="pulley_flangeR" type="cylinder" fromto="0 0.016 0 0 0.0208 0" size="0.075" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="crank" pos="0.174 0 0"><joint name="j_crank" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="-0.02773889239 -0.008 -0.01926619086" mass="0.3" fullinertia="0.0002663095327 0.0006900411035 0.0004269315708 0 0.0001603268385 0"/></body>
<body name="hand" pos="0.3 0 -0.08"><joint name="j_hand" type="slide" axis="1 0 0" damping="0.1" frictionloss="0"/><inertial pos="0.0375 -0.009 0" mass="0.6" fullinertia="0.000046 0.00028225 0.00024625 0 0 0"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="rope_up_l000" pos="-0.074 0 0.236" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="rope_up_root"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l000_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l001" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l001_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l002" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l002_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l003" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l003_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l004" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l004_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l005" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l005_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l006" pos="0.01677913163 0 0" quat="0.9993360293 0 0.03643488128 0"><joint name="rope_up_l006_s" type="slide" axis="0.9973449989 0 0.07282137917" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00837479892 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.230463566e-8 3.230463566e-8"/><geom name="rope_up_l006_c" type="capsule" fromto="0 0 0 0.01674959784 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l007" pos="0.01674959784 0 0" quat="0.9938294515 0 0.1109189857 0"><joint name="rope_up_l007_s" type="slide" axis="0.9753939572 0 0.2204691094" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371601772 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228357806e-8 3.228357806e-8"/><geom name="rope_up_l007_c" type="capsule" fromto="0 0 0 0.01674320354 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l008" pos="0.01674320354 0 0" quat="0.9935802326 0 0.1131296663 0"><joint name="rope_up_l008_s" type="slide" axis="0.9744033572 0 0.2248068003" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371604199 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228359404e-8 3.228359404e-8"/><geom name="rope_up_l008_c" type="capsule" fromto="0 0 0 0.0167432084 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l009" pos="0.0167432084 0 0" quat="0.9935801929 0 0.1131300147 0"><joint name="rope_up_l009_s" type="slide" axis="0.9744031995 0 0.2248074837" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371606634 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228361007e-8 3.228361007e-8"/><geom name="rope_up_l009_c" type="capsule" fromto="0 0 0 0.01674321327 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l010" pos="0.01674321327 0 0" quat="0.9935800558 0 0.1131312191 0"><joint name="rope_up_l010_s" type="slide" axis="0.9744026545 0 0.224809846" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371606087 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228360647e-8 3.228360647e-8"/><geom name="rope_up_l010_c" type="capsule" fromto="0 0 0 0.01674321217 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l011" pos="0.01674321217 0 0" quat="0.9935802326 0 0.1131296663 0"><joint name="rope_up_l011_s" type="slide" axis="0.9744033572 0 0.2248068004" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371603231 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228358766e-8 3.228358766e-8"/><geom name="rope_up_l011_c" type="capsule" fromto="0 0 0 0.01674320646 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l012" pos="0.01674320646 0 0" quat="0.9935802326 0 0.1131296662 0"><joint name="rope_up_l012_s" type="slide" axis="0.9744033572 0 0.2248068002" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371601053 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228357332e-8 3.228357332e-8"/><geom name="rope_up_l012_c" type="capsule" fromto="0 0 0 0.01674320211 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l013" pos="0.01674320211 0 0" quat="0.9935802326 0 0.1131296662 0"><joint name="rope_up_l013_s" type="slide" axis="0.9744033573 0 0.2248068001" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371599551 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228356343e-8 3.228356343e-8"/><geom name="rope_up_l013_c" type="capsule" fromto="0 0 0 0.0167431991 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l014" pos="0.0167431991 0 0" quat="0.9935802326 0 0.1131296661 0"><joint name="rope_up_l014_s" type="slide" axis="0.9744033573 0 0.2248068" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371598727 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.2283558e-8 3.2283558e-8"/><geom name="rope_up_l014_c" type="capsule" fromto="0 0 0 0.01674319745 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l015" pos="0.01674319745 0 0" quat="0.9935802326 0 0.1131296661 0"><joint name="rope_up_l015_s" type="slide" axis="0.9744033573 0 0.2248068" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00837159858 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228355704e-8 3.228355704e-8"/><geom name="rope_up_l015_c" type="capsule" fromto="0 0 0 0.01674319716 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l016" pos="0.01674319716 0 0" quat="0.9935802326 0 0.1131296661 0"><joint name="rope_up_l016_s" type="slide" axis="0.9744033573 0 0.2248068" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00837159911 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228356053e-8 3.228356053e-8"/><geom name="rope_up_l016_c" type="capsule" fromto="0 0 0 0.01674319822 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l017" pos="0.01674319822 0 0" quat="0.9935802326 0 0.1131296662 0"><joint name="rope_up_l017_s" type="slide" axis="0.9744033573 0 0.2248068" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371600317 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228356848e-8 3.228356848e-8"/><geom name="rope_up_l017_c" type="capsule" fromto="0 0 0 0.01674320063 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l018" pos="0.01674320063 0 0" quat="0.9935802326 0 0.1131296662 0"><joint name="rope_up_l018_s" type="slide" axis="0.9744033572 0 0.2248068001" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371602202 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228358088e-8 3.228358088e-8"/><geom name="rope_up_l018_c" type="capsule" fromto="0 0 0 0.0167432044 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l019" pos="0.0167432044 0 0" quat="0.9935802326 0 0.1131296663 0"><joint name="rope_up_l019_s" type="slide" axis="0.9744033572 0 0.2248068003" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008371604763 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.228359775e-8 3.228359775e-8"/><geom name="rope_up_l019_c" type="capsule" fromto="0 0 0 0.01674320953 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l020" pos="0.01674320953 0 0" quat="0.9980429269 0 0.06253251936 0"><joint name="rope_up_l020_s" type="slide" axis="0.992179368 0 0.1248202773" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00838955541 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240193156e-8 3.240193156e-8"/><geom name="rope_up_l020_c" type="capsule" fromto="0 0 0 0.01677911082 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l021" pos="0.01677911082 0 0" quat="0.9999999869 0 0.0001618872943 0"><joint name="rope_up_l021_s" type="slide" axis="0.9999999476 0 0.0003237745844" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l021_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l022" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l022_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l022_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l023" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l023_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l023_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l024" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l024_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l024_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l025" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l025_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l025_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l026" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l026_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l026_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l027" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l027_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l027_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l028" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l028_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l028_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l029" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l029_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l029_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l030" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l030_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l030_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l031" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l031_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l031_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l032" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l032_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l032_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l033" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l033_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l033_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l034" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l034_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l034_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l035" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l035_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l035_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l036" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l036_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l036_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l037" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l037_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l037_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l038" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l038_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l038_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_up_l039" pos="0.01677913163 0 0" quat="1 0 0 0"><joint name="rope_up_l039_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0004905" damping="12"/><joint name="rope_up_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.008389565815 0 0" mass="0.001179901917" diaginertia="9.439215339e-9 3.240200022e-8 3.240200022e-8"/><geom name="rope_up_l039_c" type="capsule" fromto="0 0 0 0.01677913163 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="rope_pull_l000" pos="0.174 0 -0.08" quat="1 0 0 0">
<freejoint name="rope_pull_root"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l000_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l001" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l001_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l002" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l002_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l003" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l003_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l004" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l004_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l005" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l005_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l006" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l006_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l007" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l007_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l008" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l008_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l009" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l009_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l009_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l010" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l010_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l010_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l011" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l011_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l011_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l012" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l012_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l013" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l013_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l014" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l014_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_pull_l015" pos="0.007875 0 0" quat="1 0 0 0"><joint name="rope_pull_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000613125" damping="12"/><joint name="rope_pull_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0039375 0 0" mass="0.0005541769441" diaginertia="4.433415553e-9 5.080676905e-9 5.080676905e-9"/><geom name="rope_pull_l015_c" type="capsule" fromto="0 0 0 0.007875 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="rope_up_eyeA" body1="rope_up_l000" body2="bag" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_up_eyeB" body1="rope_up_l039" body2="crank" anchor="0.01677913163 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_pull_eyeA" body1="rope_pull_l000" body2="crank" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_pull_eyeB" body1="rope_pull_l015" body2="hand" anchor="0.007875 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_up_l000" body2="bag"/><exclude body1="rope_up_l039" body2="crank"/><exclude body1="rope_pull_l000" body2="crank"/><exclude body1="rope_pull_l015" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
