<mujoco model="457-well-sweep-counterpoise">
<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="ground" pos="0 0 0"></body>
<body name="pole" pos="0.3 0 0.75"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0" range="-0.3 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.2244072976 -8.850753708e-8 -0.1046430218" mass="11.43749918" fullinertia="0.1920289401 0.8877275092 0.7364517759 8.476788802e-8 0.3244109725 -3.952747286e-8"/></body>
<body name="bucket" pos="-0.48 0 0.322618"><joint name="j_b" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.05 0.8" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.1889040781" mass="5.663977524" fullinertia="0.03299749868 0.03234563788 0.02902590369 0 0 0"/></body>
<body name="rope_l000" pos="-0.606308 0 1.17262" quat="0.7590251393 0 0.6510613165 0">
<freejoint name="rope_root"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l009_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l010_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l011_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l018_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l020_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l021_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l022_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l022_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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="0.0345697009 0 0" quat="1 0 0 0"><joint name="rope_l023_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0006945475" damping="12"/><joint name="rope_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01728485045 0 0" mass="0.003801137143" diaginertia="4.751421429e-8 4.023073568e-7 4.023073568e-7"/><geom name="rope_l023_c" type="capsule" fromto="0 0 0 0.0345697009 0 0" size="0.005" 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>
<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="pole" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l023" body2="bucket" anchor="0.0345697009 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="pole"/><exclude body1="rope_l023" body2="bucket"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
