<mujoco model="458-pulley-and-buckets">
<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="house" pos="0 0 0"></body>
<body name="pulley" pos="0 0 0.92"><joint name="j_pulley" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1" diaginertia="0.004975 0.00784 0.004975"/><geom name="pulley_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.14" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.145" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.145" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="full" pos="0.144 0 0.08"><joint name="j_f" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.05 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.1239620986" mass="2.236157479" fullinertia="0.006898068469 0.006772167364 0.005893822219 0 0 0"/></body>
<body name="empty" pos="-0.144 0 0.6"><joint name="j_e" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.05 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01325200503 0 -0.1069803708" mass="0.3432392328" fullinertia="0.002651524253 0.003108253473 0.001741502398 0 0.0004393098128 0"/></body>
<body name="rope_l000" pos="-0.144 0 0.64" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="rope_root"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l000_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l001" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l001_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l002" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l002_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l003" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l003_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l004" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l004_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l005" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l005_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l006" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l006_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l007" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l007_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l008" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l008_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l009" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l009_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l009_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l010" pos="0.02598773608 0 0" quat="0.9999973539 0 0.002300462018 0"><joint name="rope_l010_s" type="slide" axis="0.9999894157 0 0.004600911862" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299319318 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101872487e-7 1.101872487e-7"/><geom name="rope_l010_c" type="capsule" fromto="0 0 0 0.02598638636 0 0" size="0.004" 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_l011" pos="0.02598638636 0 0" quat="0.9980047664 0 0.06313862647 0"><joint name="rope_l011_s" type="slide" axis="0.9920270277 0 0.1260253003" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623792 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189341e-7 1.099189341e-7"/><geom name="rope_l011_c" type="capsule" fromto="0 0 0 0.02595247585 0 0" size="0.004" 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_l012" pos="0.02595247585 0 0" quat="0.9959314583 0 0.09011398493 0"><joint name="rope_l012_s" type="slide" axis="0.9837589394 0 0.1794947049" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297624193 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189974e-7 1.099189974e-7"/><geom name="rope_l012_c" type="capsule" fromto="0 0 0 0.02595248385 0 0" size="0.004" 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_l013" pos="0.02595248385 0 0" quat="0.9959314011 0 0.09011461721 0"><joint name="rope_l013_s" type="slide" axis="0.9837587115 0 0.179495954" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0129762389 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189494e-7 1.099189494e-7"/><geom name="rope_l013_c" type="capsule" fromto="0 0 0 0.02595247779 0 0" size="0.004" 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_l014" pos="0.02595247779 0 0" quat="0.9959316357 0 0.09011202449 0"><joint name="rope_l014_s" type="slide" axis="0.9837596461 0 0.1794908319" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623353 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099188645e-7 1.099188645e-7"/><geom name="rope_l014_c" type="capsule" fromto="0 0 0 0.02595246706 0 0" size="0.004" 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_l015" pos="0.02595246706 0 0" quat="0.9959316357 0 0.09011202435 0"><joint name="rope_l015_s" type="slide" axis="0.9837596461 0 0.1794908316" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623196 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099188397e-7 1.099188397e-7"/><geom name="rope_l015_c" type="capsule" fromto="0 0 0 0.02595246391 0 0" size="0.004" 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_l016" pos="0.02595246391 0 0" quat="0.9959316357 0 0.09011202436 0"><joint name="rope_l016_s" type="slide" axis="0.9837596461 0 0.1794908316" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623418 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099188749e-7 1.099188749e-7"/><geom name="rope_l016_c" type="capsule" fromto="0 0 0 0.02595246836 0 0" size="0.004" 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_l017" pos="0.02595246836 0 0" quat="0.9959316357 0 0.09011202453 0"><joint name="rope_l017_s" type="slide" axis="0.9837596461 0 0.179490832" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0129762402 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189701e-7 1.099189701e-7"/><geom name="rope_l017_c" type="capsule" fromto="0 0 0 0.0259524804 0 0" size="0.004" 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_l018" pos="0.0259524804 0 0" quat="0.9959313303 0 0.09011540053 0"><joint name="rope_l018_s" type="slide" axis="0.9837584292 0 0.1794975015" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297624202 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189989e-7 1.099189989e-7"/><geom name="rope_l018_c" type="capsule" fromto="0 0 0 0.02595248405 0 0" size="0.004" 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_l019" pos="0.02595248405 0 0" quat="0.9959315292 0 0.09011320159 0"><joint name="rope_l019_s" type="slide" axis="0.9837592218 0 0.1794931573" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623682 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189166e-7 1.099189166e-7"/><geom name="rope_l019_c" type="capsule" fromto="0 0 0 0.02595247364 0 0" size="0.004" 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_l020" pos="0.02595247364 0 0" quat="0.9959316357 0 0.09011202443 0"><joint name="rope_l020_s" type="slide" axis="0.9837596461 0 0.1794908318" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623263 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099188504e-7 1.099188504e-7"/><geom name="rope_l020_c" type="capsule" fromto="0 0 0 0.02595246527 0 0" size="0.004" 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_l021" pos="0.02595246527 0 0" quat="0.9959316357 0 0.09011202433 0"><joint name="rope_l021_s" type="slide" axis="0.9837596461 0 0.1794908316" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623224 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099188442e-7 1.099188442e-7"/><geom name="rope_l021_c" type="capsule" fromto="0 0 0 0.02595246448 0 0" size="0.004" 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_l022" pos="0.02595246448 0 0" quat="0.9959316357 0 0.0901120244 0"><joint name="rope_l022_s" type="slide" axis="0.9837596461 0 0.1794908317" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297623565 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.09918898e-7 1.09918898e-7"/><geom name="rope_l022_c" type="capsule" fromto="0 0 0 0.02595247129 0 0" size="0.004" 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_l023" pos="0.02595247129 0 0" quat="0.9959316141 0 0.09011226326 0"><joint name="rope_l023_s" type="slide" axis="0.98375956 0 0.1794913036" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297624229 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.09919003e-7 1.09919003e-7"/><geom name="rope_l023_c" type="capsule" fromto="0 0 0 0.02595248457 0 0" size="0.004" 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_l024" pos="0.02595248457 0 0" quat="0.9959312454 0 0.09011633881 0"><joint name="rope_l024_s" type="slide" axis="0.983758091 0 0.1794993551" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01297624192 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.099189972e-7 1.099189972e-7"/><geom name="rope_l024_c" type="capsule" fromto="0 0 0 0.02595248383 0 0" size="0.004" 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_l054" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l054_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l054_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l054_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l055" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l055_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l055_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l055_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l056" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l056_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l056_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l057" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l057_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l057_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l058" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l058_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l058_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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_l059" pos="0.02598773608 0 0" quat="1 0 0 0"><joint name="rope_l059_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0005475" damping="12"/><joint name="rope_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.01299386804 0 0" mass="0.001828094987" diaginertia="1.462475989e-8 1.101979355e-7 1.101979355e-7"/><geom name="rope_l059_c" type="capsule" fromto="0 0 0 0.02598773608 0 0" size="0.004" 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></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="empty" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l059" body2="full" anchor="0.02598773608 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="empty"/><exclude body1="rope_l059" body2="full"/></contact>
<actuator><velocity name="drive" joint="j_e" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
