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<body name="rope_l024" pos="0.01592508321 0 0" quat="0.9935095581 0 0.1137486612 0"><joint name="rope_l024_s" type="slide" axis="0.9741224842 0 0.2260207642" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962539677 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359237312e-9 2.359237312e-9"/><geom name="rope_l024_c" type="capsule" fromto="0 0 0 0.01592507935 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
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<body name="rope_l028" pos="0.01592507896 0 0" quat="0.9935095581 0 0.113748661 0"><joint name="rope_l028_s" type="slide" axis="0.9741224842 0 0.2260207639" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962543614 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359239603e-9 2.359239603e-9"/><geom name="rope_l028_c" type="capsule" fromto="0 0 0 0.01592508723 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l029" pos="0.01592508723 0 0" quat="0.9935088423 0 0.1137549128 0"><joint name="rope_l029_s" type="slide" axis="0.9741196396 0 0.2260330234" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00796254373 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.35923967e-9 2.35923967e-9"/><geom name="rope_l029_c" type="capsule" fromto="0 0 0 0.01592508746 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l030" pos="0.01592508746 0 0" quat="0.9935095381 0 0.1137488363 0"><joint name="rope_l030_s" type="slide" axis="0.9741224045 0 0.2260211076" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962539518 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359237219e-9 2.359237219e-9"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.01592507904 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l031" pos="0.01592507904 0 0" quat="0.9935095581 0 0.1137486611 0"><joint name="rope_l031_s" type="slide" axis="0.9741224842 0 0.2260207641" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962542347 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359238866e-9 2.359238866e-9"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.01592508469 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l032" pos="0.01592508469 0 0" quat="0.9935089725 0 0.1137537757 0"><joint name="rope_l032_s" type="slide" axis="0.974120157 0 0.2260307936" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962543216 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359239371e-9 2.359239371e-9"/><geom name="rope_l032_c" type="capsule" fromto="0 0 0 0.01592508643 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l033" pos="0.01592508643 0 0" quat="0.9935094079 0 0.1137499732 0"><joint name="rope_l033_s" type="slide" axis="0.9741218872 0 0.2260233371" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962539784 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359237374e-9 2.359237374e-9"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.01592507957 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l034" pos="0.01592507957 0 0" quat="0.9935095581 0 0.1137486612 0"><joint name="rope_l034_s" type="slide" axis="0.9741224842 0 0.2260207642" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007962541311 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.359238262e-9 2.359238262e-9"/><geom name="rope_l034_c" type="capsule" fromto="0 0 0 0.01592508262 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l035" pos="0.01592508262 0 0" quat="0.9958613173 0 0.09088584409 0"><joint name="rope_l035_s" type="slide" axis="0.9834795267 0 0.1810193928" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007977377088 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.367878206e-9 2.367878206e-9"/><geom name="rope_l035_c" type="capsule" fromto="0 0 0 0.01595475418 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l036" pos="0.01595475418 0 0" quat="0.9999711945 0 0.007590141192 0"><joint name="rope_l036_s" type="slide" axis="0.9998847795 0 0.01517984511" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l036_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l037" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l037_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l037_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l038" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l038_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l038_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l039" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l039_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l039_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l040" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l040_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l040_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l041" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l041_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l041_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l042" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l042_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l042_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="rope_l043" pos="0.01595963408 0 0" quat="1 0 0 0"><joint name="rope_l043_s" type="slide" axis="1 0 0" stiffness="5000" springref="-0.00007064" damping="2"/><joint name="rope_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00797981704 0 0" mass="0.0001096063657" diaginertia="8.562997322e-11 2.369300706e-9 2.369300706e-9"/><geom name="rope_l043_c" type="capsule" fromto="0 0 0 0.01595963408 0 0" size="0.00125" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<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="weight" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l043" body2="bucket" anchor="0.01595963408 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="weight"/><exclude body1="rope_l043" body2="bucket"/></contact>
<actuator><motor name="drive" joint="j_b" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
