<mujoco model="129-chinese-windlass">
<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="frame" pos="0 0 0.5"></body>
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<body name="drum_b_w" pos="0 0.036 0" quat="1 0 0 0"><geom name="drum_b_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.04" 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="drum_b_w_flangeL" type="cylinder" fromto="0 -0.007 0 0 -0.0091 0" size="0.046" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_b_w_flangeR" type="cylinder" fromto="0 0.007 0 0 0.0091 0" size="0.046" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<geom name="axle" type="capsule" fromto="0 -0.068 0 0 0.068 0" size="0.005" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="block" pos="0.015 0 0.28"><joint name="j_block" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.14 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.04859582016" mass="0.6" fullinertia="0.002426331209 0.001162969535 0.001267393628 0 0 0"/><body name="sheave_a" pos="0 -0.036 0"><joint name="j_sa" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.7" diaginertia="0.0005527083333 0.000847 0.0005527083333"/><geom name="sheave_a_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.055" 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="sheave_a_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.06" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_a_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.06" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="sheave_b" pos="0 0.036 0"><joint name="j_sb" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.7" diaginertia="0.0005527083333 0.000847 0.0005527083333"/><geom name="sheave_b_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.055" 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="sheave_b_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.06" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="sheave_b_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.06" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="bag" pos="0 0 -0.14"><inertial pos="0 0 0" mass="5" diaginertia="0.008771666667 0.009006666667 0.008771666667"/><geom name="bag_g" type="box" size="0.044 0.044 0.05" contype="0" conaffinity="0" group="2" mass="0"/></body>
</body>
<body name="rope_a_l000" pos="-0.044165 -0.036 0.563075" quat="0.9863526987 0 -0.1646461472 0">
<freejoint name="rope_a_root"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l000_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l001" pos="0.01377421334 0 0" quat="0.9999536633 0 0.009626592074 0"><joint name="rope_a_l001_s" type="slide" axis="0.9998146575 0 0.01925229202" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006884640472 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.91718026e-8 1.91718026e-8"/><geom name="rope_a_l001_c" type="capsule" fromto="0 0 0 0.01376928094 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_a_l003" pos="0.0137543272 0 0" quat="0.9956723578 0 0.09293307223 0"><joint name="rope_a_l003_s" type="slide" axis="0.9827268882 0 0.1850617823" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877165838 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913860135e-8 1.913860135e-8"/><geom name="rope_a_l003_c" type="capsule" fromto="0 0 0 0.01375433168 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_a_l004" pos="0.01375433168 0 0" quat="0.9956720074 0 0.09293682661 0"><joint name="rope_a_l004_s" type="slide" axis="0.9827254925 0 0.1850691934" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877167563 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913860901e-8 1.913860901e-8"/><geom name="rope_a_l004_c" type="capsule" fromto="0 0 0 0.01375433513 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_a_l005" pos="0.01375433513 0 0" quat="0.995672104 0 0.0929357912 0"><joint name="rope_a_l005_s" type="slide" axis="0.9827258774 0 0.1850671495" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877165188 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913859846e-8 1.913859846e-8"/><geom name="rope_a_l005_c" type="capsule" fromto="0 0 0 0.01375433038 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_a_l006" pos="0.01375433038 0 0" quat="0.9956723578 0 0.09293307219 0"><joint name="rope_a_l006_s" type="slide" axis="0.9827268882 0 0.1850617822" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877163645 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913859161e-8 1.913859161e-8"/><geom name="rope_a_l006_c" type="capsule" fromto="0 0 0 0.01375432729 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_a_l008" pos="0.01375433291 0 0" quat="0.9956719283 0 0.09293767403 0"><joint name="rope_a_l008_s" type="slide" axis="0.9827251775 0 0.1850708662" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877167643 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913860936e-8 1.913860936e-8"/><geom name="rope_a_l008_c" type="capsule" fromto="0 0 0 0.01375433529 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_a_l011" pos="0.01375432753 0 0" quat="0.9956723578 0 0.09293307231 0"><joint name="rope_a_l011_s" type="slide" axis="0.9827268881 0 0.1850617825" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877167143 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913860714e-8 1.913860714e-8"/><geom name="rope_a_l011_c" type="capsule" fromto="0 0 0 0.01375433429 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_a_l012" pos="0.01375433429 0 0" quat="0.9956718492 0 0.09293852145 0"><joint name="rope_a_l012_s" type="slide" axis="0.9827248625 0 0.185072539" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006877167796 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.913861004e-8 1.913861004e-8"/><geom name="rope_a_l012_c" type="capsule" fromto="0 0 0 0.01375433559 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_a_l013" pos="0.01375433559 0 0" quat="0.9990020264 0 -0.04466487614 0"><joint name="rope_a_l013_s" type="slide" axis="0.9960100977 0 -0.08924060355" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006843355904 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.898887299e-8 1.898887299e-8"/><geom name="rope_a_l013_c" type="capsule" fromto="0 0 0 0.01368671181 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_a_l014" pos="0.01368671181 0 0" quat="0.9995195029 0 -0.03099618376 0"><joint name="rope_a_l014_s" type="slide" axis="0.9980784732 0 -0.06196258036" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l014_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l015" pos="0.01377421334 0 0" quat="1 0 0 0"><joint name="rope_a_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l015_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l016" pos="0.01377421334 0 0" quat="1 0 0 0"><joint name="rope_a_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l016_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l017" pos="0.01377421334 0 0" quat="1 0 0 0"><joint name="rope_a_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l017_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l018" pos="0.01377421334 0 0" quat="1 0 0 0"><joint name="rope_a_l018_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l018_c" type="capsule" fromto="0 0 0 0.01377421334 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_a_l019" pos="0.01377421334 0 0" quat="1 0 0 0"><joint name="rope_a_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_a_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006887106669 0 0" mass="0.0009683009879" diaginertia="7.746407903e-9 1.918276501e-8 1.918276501e-8"/><geom name="rope_a_l019_c" type="capsule" fromto="0 0 0 0.01377421334 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_b_l000" pos="0.026958 0.036 0.5385" quat="-0.1254942788 0 0.9920943433 0">
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<body name="rope_b_l012" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l012_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l013" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l013_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l014" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l014_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l015" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l015_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l016" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l016_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l017" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l017_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l018" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l018_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l018_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l019" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l019_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l020" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l020_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l020_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l021" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l021_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l021_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l022" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l022_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l022_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l023" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l023_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l023_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l024" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l024_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l024_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l025" pos="0.01195290732 0 0" quat="1 0 0 0"><joint name="rope_b_l025_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l025_c" type="capsule" fromto="0 0 0 0.01195290732 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_b_l026" pos="0.01195290732 0 0" quat="0.9999175582 0 -0.0128404375 0"><joint name="rope_b_l026_s" type="slide" axis="0.9996702463 0 -0.02567875781" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0059732053 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.335617497e-8 1.335617497e-8"/><geom name="rope_b_l026_c" type="capsule" fromto="0 0 0 0.0119464106 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_b_l027" pos="0.0119464106 0 0" quat="0.9960587395 0 -0.0886960402 0"><joint name="rope_b_l027_s" type="slide" axis="0.9842660249 0 -0.176692932" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966235115 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333286287e-8 1.333286287e-8"/><geom name="rope_b_l027_c" type="capsule" fromto="0 0 0 0.01193247023 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_b_l028" pos="0.01193247023 0 0" quat="0.9948739629 0 -0.1011226881 0"><joint name="rope_b_l028_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966234659 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333286134e-8 1.333286134e-8"/><geom name="rope_b_l028_c" type="capsule" fromto="0 0 0 0.01193246932 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_b_l029" pos="0.01193246932 0 0" quat="0.9948739629 0 -0.1011226881 0"><joint name="rope_b_l029_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966234288 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.33328601e-8 1.33328601e-8"/><geom name="rope_b_l029_c" type="capsule" fromto="0 0 0 0.01193246858 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_b_l030" pos="0.01193246858 0 0" quat="0.9948739629 0 -0.1011226881 0"><joint name="rope_b_l030_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966234002 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333285914e-8 1.333285914e-8"/><geom name="rope_b_l030_c" type="capsule" fromto="0 0 0 0.011932468 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_b_l031" pos="0.011932468 0 0" quat="0.9948739628 0 -0.1011226881 0"><joint name="rope_b_l031_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966233801 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333285847e-8 1.333285847e-8"/><geom name="rope_b_l031_c" type="capsule" fromto="0 0 0 0.0119324676 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_b_l032" pos="0.0119324676 0 0" quat="0.9948739628 0 -0.1011226881 0"><joint name="rope_b_l032_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966233685 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333285809e-8 1.333285809e-8"/><geom name="rope_b_l032_c" type="capsule" fromto="0 0 0 0.01193246737 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_b_l033" pos="0.01193246737 0 0" quat="0.9948739628 0 -0.1011226881 0"><joint name="rope_b_l033_s" type="slide" axis="0.9795484039 0 -0.2012086588" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005966233655 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.333285798e-8 1.333285798e-8"/><geom name="rope_b_l033_c" type="capsule" fromto="0 0 0 0.01193246731 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_b_l034" pos="0.01193246731 0 0" quat="0.9963968885 0 -0.08481297455 0"><joint name="rope_b_l034_s" type="slide" axis="0.9856135187 0 -0.1690147679" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005974233657 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.335961667e-8 1.335961667e-8"/><geom name="rope_b_l034_c" type="capsule" fromto="0 0 0 0.01194846731 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_b_l035" pos="0.01194846731 0 0" quat="0.9999557949 0 -0.009402561421 0"><joint name="rope_b_l035_s" type="slide" axis="0.9998231837 0 -0.01880429156" stiffness="40000" springref="-0.00073575" damping="12"/><joint name="rope_b_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.005976453662 0 0" mass="0.0008403777836" diaginertia="6.723022269e-9 1.336704857e-8 1.336704857e-8"/><geom name="rope_b_l035_c" type="capsule" fromto="0 0 0 0.01195290732 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></body></body></body></body></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="pin_sheave" body1="sheave_a" body2="sheave_b" anchor="0.02 0.036 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="rope_a_eyeA" body1="rope_a_l000" body2="barrel" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_a_eyeB" body1="rope_a_l035" body2="sheave_a" anchor="0.01377421334 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_b_eyeA" body1="rope_b_l000" body2="barrel" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_b_eyeB" body1="rope_b_l035" body2="sheave_b" anchor="0.01195290732 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="sheave_a" body2="sheave_b"/><exclude body1="rope_a_l000" body2="barrel"/><exclude body1="rope_a_l035" body2="sheave_a"/><exclude body1="rope_b_l000" body2="barrel"/><exclude body1="rope_b_l035" body2="sheave_b"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="20" forcerange="-50 50"/></actuator>
</mujoco>
