<mujoco model="383-cloth-dressing-rollers">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0004" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
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</body>
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<body name="cyl_face" pos="0 0 0"></body>
</body>
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<body name="bottom_face" pos="0 0 0"></body>
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="yarn0_eyeA" body1="yarn0_l000" body2="top" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="yarn0_eyeB" body1="yarn0_l057" body2="bottom" anchor="0.01199149719 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="yarn1_eyeA" body1="yarn1_l000" body2="top" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="yarn1_eyeB" body1="yarn1_l057" body2="bottom" anchor="0.01199149719 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="yarn2_eyeA" body1="yarn2_l000" body2="top" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="yarn2_eyeB" body1="yarn2_l057" body2="bottom" anchor="0.01199149719 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="yarn0_l000" body2="top"/><exclude body1="yarn0_l057" body2="bottom"/><exclude body1="yarn1_l000" body2="top"/><exclude body1="yarn1_l057" body2="bottom"/><exclude body1="yarn2_l000" body2="top"/><exclude body1="yarn2_l057" body2="bottom"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="30" forcerange="-50 50"/></actuator>
</mujoco>
