<mujoco model="134-rope-wound-on-drum">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="drum" pos="0 0 0.11" quat="1 0 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0.0003374578196 0" mass="2.119189512" fullinertia="0.005222861572 0.008003814064 0.005222861572 0 0 0"/><body name="drm_w" pos="0 0 0" quat="1 0 0 0"><geom name="drm_w_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.1" 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="drm_w_flangeL" type="cylinder" fromto="0 -0.012 0 0 -0.0156 0" size="0.108" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drm_w_flangeR" type="cylinder" fromto="0 0.012 0 0 0.0156 0" size="0.108" 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 -0.032 0 0 0.044 0" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="carriage" pos="0.27 0 0.006"><joint name="j_c" type="slide" axis="1 0 0" damping="0.4" frictionloss="0" range="-0.14 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="40" springref="0.2"/><inertial pos="0 0 0.004" mass="0.8" fullinertia="0.0002058666667 0.0002922666667 0.0003936 0 0 0"/></body>
<body name="rope_l000" pos="0.100547 0 0.146596" quat="-0.4725569102 0 0.881300157 0">
<freejoint name="rope_root"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.01381009579 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_l001" pos="0.01381009579 0 0" quat="0.9999994402 0 -0.001058116034 0"><joint name="rope_l001_s" type="slide" axis="0.9999977608 0 -0.002116230883" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006904947794 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932378089e-8 1.932378089e-8"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.01380989559 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_l002" pos="0.01380989559 0 0" quat="0.9990335113 0 -0.04395501441 0"><joint name="rope_l002_s" type="slide" axis="0.9961359134 0 -0.08782506477" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899975146 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155305e-8 1.930155305e-8"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.01379995029 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_l003" pos="0.01379995029 0 0" quat="0.9977962051 0 -0.06635309444 0"><joint name="rope_l003_s" type="slide" axis="0.9911945337 0 -0.1324137317" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899975116 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155292e-8 1.930155292e-8"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.01379995023 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_l004" pos="0.01379995023 0 0" quat="0.997796874 0 -0.0663430353 0"><joint name="rope_l004_s" type="slide" axis="0.9911972033 0 -0.1323937465" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899971241 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.93015356e-8 1.93015356e-8"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.01379994248 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_l005" pos="0.01379994248 0 0" quat="0.9977968739 0 -0.06634303546 0"><joint name="rope_l005_s" type="slide" axis="0.9911972033 0 -0.1323937468" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899972652 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930154191e-8 1.930154191e-8"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.0137999453 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_l006" pos="0.0137999453 0 0" quat="0.9977965194 0 -0.0663483681 0"><joint name="rope_l006_s" type="slide" axis="0.9911957881 0 -0.1324043415" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974477 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155006e-8 1.930155006e-8"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.01379994895 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_l007" pos="0.01379994895 0 0" quat="0.9977965544 0 -0.0663478413 0"><joint name="rope_l007_s" type="slide" axis="0.9911959279 0 -0.1324032949" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899972449 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.9301541e-8 1.9301541e-8"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.0137999449 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_l008" pos="0.0137999449 0 0" quat="0.9977968739 0 -0.06634303547 0"><joint name="rope_l008_s" type="slide" axis="0.9911972033 0 -0.1323937468" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899971312 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153592e-8 1.930153592e-8"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.01379994262 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_l009" pos="0.01379994262 0 0" quat="0.9977968442 0 -0.06634348231 0"><joint name="rope_l009_s" type="slide" axis="0.9911970847 0 -0.1323946346" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899975051 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155262e-8 1.930155262e-8"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.0137999501 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_l010" pos="0.0137999501 0 0" quat="0.9977962295 0 -0.06635272719 0"><joint name="rope_l010_s" type="slide" axis="0.9911946312 0 -0.132413002" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974883 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155188e-8 1.930155188e-8"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.01379994977 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_l011" pos="0.01379994977 0 0" quat="0.997796874 0 -0.06634303532 0"><joint name="rope_l011_s" type="slide" axis="0.9911972033 0 -0.1323937465" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0068999712 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153542e-8 1.930153542e-8"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.0137999424 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_l012" pos="0.0137999424 0 0" quat="0.9977968739 0 -0.06634303545 0"><joint name="rope_l012_s" type="slide" axis="0.9911972033 0 -0.1323937468" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899972802 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930154258e-8 1.930154258e-8"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.0137999456 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_l013" pos="0.0137999456 0 0" quat="0.9977964949 0 -0.06634873534 0"><joint name="rope_l013_s" type="slide" axis="0.9911956906 0 -0.1324050711" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974486 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.93015501e-8 1.93015501e-8"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.01379994897 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_l014" pos="0.01379994897 0 0" quat="0.9977965788 0 -0.06634747406 0"><joint name="rope_l014_s" type="slide" axis="0.9911960254 0 -0.1324025653" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899972315 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.93015404e-8 1.93015404e-8"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.01379994463 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_l015" pos="0.01379994463 0 0" quat="0.9977968739 0 -0.06634303547 0"><joint name="rope_l015_s" type="slide" axis="0.9911972033 0 -0.1323937468" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899971371 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153618e-8 1.930153618e-8"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.01379994274 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_l016" pos="0.01379994274 0 0" quat="0.9977968198 0 -0.06634384954 0"><joint name="rope_l016_s" type="slide" axis="0.9911969873 0 -0.1323953642" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974963 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155223e-8 1.930155223e-8"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.01379994993 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_l017" pos="0.01379994993 0 0" quat="0.9977962539 0 -0.06635235994 0"><joint name="rope_l017_s" type="slide" axis="0.9911947287 0 -0.1324122724" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974657 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155087e-8 1.930155087e-8"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.01379994931 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_l018" pos="0.01379994931 0 0" quat="0.9977968739 0 -0.06634303533 0"><joint name="rope_l018_s" type="slide" axis="0.9911972033 0 -0.1323937465" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899971166 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153527e-8 1.930153527e-8"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.01379994233 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_l019" pos="0.01379994233 0 0" quat="0.9977968739 0 -0.06634303544 0"><joint name="rope_l019_s" type="slide" axis="0.9911972033 0 -0.1323937467" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00689997296 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930154328e-8 1.930154328e-8"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.01379994592 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_l020" pos="0.01379994592 0 0" quat="0.9977964705 0 -0.06634910258 0"><joint name="rope_l020_s" type="slide" axis="0.9911955932 0 -0.1324058008" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974502 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155017e-8 1.930155017e-8"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.013799949 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_l021" pos="0.013799949 0 0" quat="0.9977966032 0 -0.06634710682 0"><joint name="rope_l021_s" type="slide" axis="0.9911961228 0 -0.1324018356" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899972189 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153984e-8 1.930153984e-8"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.01379994438 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_l022" pos="0.01379994438 0 0" quat="0.9977968739 0 -0.06634303547 0"><joint name="rope_l022_s" type="slide" axis="0.9911972033 0 -0.1323937468" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899971435 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930153647e-8 1.930153647e-8"/><geom name="rope_l022_c" type="capsule" fromto="0 0 0 0.01379994287 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_l023" pos="0.01379994287 0 0" quat="0.9977967954 0 -0.06634421678 0"><joint name="rope_l023_s" type="slide" axis="0.9911968898 0 -0.1323960938" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974882 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155187e-8 1.930155187e-8"/><geom name="rope_l023_c" type="capsule" fromto="0 0 0 0.01379994976 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_l030" pos="0.01379994301 0 0" quat="0.997796771 0 -0.06634458401 0"><joint name="rope_l030_s" type="slide" axis="0.9911967923 0 -0.1323968234" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974809 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930155155e-8 1.930155155e-8"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.01379994962 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_l031" pos="0.01379994962 0 0" quat="0.9977963028 0 -0.06635162545 0"><joint name="rope_l031_s" type="slide" axis="0.9911949236 0 -0.1324108131" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006899974227 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.930154894e-8 1.930154894e-8"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.01379994845 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_l033" pos="0.01380052202 0 0" quat="0.999649515 0 -0.02647351981 0"><joint name="rope_l033_s" type="slide" axis="0.9985983055 0 -0.05292848246" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.01381009579 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_l034" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l034_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l034_c" type="capsule" fromto="0 0 0 0.01381009579 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_l035" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l035_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l035_c" type="capsule" fromto="0 0 0 0.01381009579 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_l036" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l036_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l036_c" type="capsule" fromto="0 0 0 0.01381009579 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_l037" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l037_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l037_c" type="capsule" fromto="0 0 0 0.01381009579 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_l038" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l038_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l038_c" type="capsule" fromto="0 0 0 0.01381009579 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_l039" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l039_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l039_c" type="capsule" fromto="0 0 0 0.01381009579 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_l040" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l040_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l040_c" type="capsule" fromto="0 0 0 0.01381009579 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_l041" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l041_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l041_c" type="capsule" fromto="0 0 0 0.01381009579 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_l042" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l042_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l042_c" type="capsule" fromto="0 0 0 0.01381009579 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_l043" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l043_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l043_c" type="capsule" fromto="0 0 0 0.01381009579 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_l044" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l044_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l044_c" type="capsule" fromto="0 0 0 0.01381009579 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_l045" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l045_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l045_c" type="capsule" fromto="0 0 0 0.01381009579 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_l046" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l046_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l046_c" type="capsule" fromto="0 0 0 0.01381009579 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_l047" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l047_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l047_c" type="capsule" fromto="0 0 0 0.01381009579 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_l048" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l048_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l048_c" type="capsule" fromto="0 0 0 0.01381009579 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_l049" pos="0.01381009579 0 0" quat="1 0 0 0"><joint name="rope_l049_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000125" damping="12"/><joint name="rope_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006905047894 0 0" mass="0.0009713972878" diaginertia="7.771178303e-9 1.932422851e-8 1.932422851e-8"/><geom name="rope_l049_c" type="capsule" fromto="0 0 0 0.01381009579 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></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_eyeA" body1="rope_l000" body2="drum" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l049" body2="carriage" anchor="0.01381009579 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="drum"/><exclude body1="rope_l049" body2="carriage"/></contact>
<actuator><velocity name="drive" joint="j_d" kv="300" forcerange="-50 50"/></actuator>
</mujoco>
