<mujoco model="459-wind-wheel-well-lift">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81" density="1.2" viscosity="0.000018" wind="12 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="worm_h1" vertex="-0.002437 0 -0.185693 0.006051 0 -0.186148 0.007228 0 -0.164179 -0.00126 0 -0.163725 -0.002892 -0.00287 -0.183506 0.00495 -0.006123 -0.183926 0.006127 -0.006123 -0.161957 -0.001715 -0.00287 -0.161537"/><mesh name="worm_h2" vertex="-0.002892 -0.00287 -0.183506 0.00495 -0.006123 -0.183926 0.006127 -0.006123 -0.161957 -0.001715 -0.00287 -0.161537 -0.0044 -0.005303 -0.181262 0.001602 -0.011314 -0.181584 0.002779 -0.011314 -0.159615 -0.003223 -0.005303 -0.159294"/><mesh name="worm_h3" vertex="-0.0044 -0.005303 -0.181262 0.001602 -0.011314 -0.181584 0.002779 -0.011314 -0.159615 -0.003223 -0.005303 -0.159294 -0.006714 -0.006929 -0.178975 -0.003466 -0.014782 -0.179149 -0.002289 -0.014782 -0.157181 -0.005537 -0.006929 -0.157007"/><mesh name="worm_h4" vertex="-0.006714 -0.006929 -0.178975 -0.003466 -0.014782 -0.179149 -0.002289 -0.014782 -0.157181 -0.005537 -0.006929 -0.157007 -0.009464 -0.0075 -0.176665 -0.009464 -0.016 -0.176665 -0.008287 -0.016 -0.154696 -0.008287 -0.0075 -0.154696"/><mesh name="worm_h5" vertex="-0.009464 -0.0075 -0.176665 -0.009464 -0.016 -0.176665 -0.008287 -0.016 -0.154696 -0.008287 -0.0075 -0.154696 -0.012215 -0.006929 -0.174355 -0.015463 -0.014782 -0.174181 -0.014286 -0.014782 -0.152212 -0.011038 -0.006929 -0.152386"/><mesh name="worm_h6" vertex="-0.012215 -0.006929 -0.174355 -0.015463 -0.014782 -0.174181 -0.014286 -0.014782 -0.152212 -0.011038 -0.006929 -0.152386 -0.014529 -0.005303 -0.172068 -0.020531 -0.011314 -0.171746 -0.019354 -0.011314 -0.149778 -0.013352 -0.005303 -0.150099"/><mesh name="worm_h7" vertex="-0.014529 -0.005303 -0.172068 -0.020531 -0.011314 -0.171746 -0.019354 -0.011314 -0.149778 -0.013352 -0.005303 -0.150099 -0.016037 -0.00287 -0.169824 -0.023878 -0.006123 -0.169404 -0.022702 -0.006123 -0.147435 -0.01486 -0.00287 -0.147855"/><mesh name="worm_h8" vertex="-0.016037 -0.00287 -0.169824 -0.023878 -0.006123 -0.169404 -0.022702 -0.006123 -0.147435 -0.01486 -0.00287 -0.147855 -0.016491 0 -0.167637 -0.024979 0 -0.167182 -0.023802 0 -0.145213 -0.015314 0 -0.145668"/><mesh name="worm_h9" vertex="-0.016491 0 -0.167637 -0.024979 0 -0.167182 -0.023802 0 -0.145213 -0.015314 0 -0.145668 -0.015806 0.00287 -0.16551 -0.023647 0.006123 -0.16509 -0.022471 0.006123 -0.143122 -0.014629 0.00287 -0.143542"/><mesh name="worm_h10" vertex="-0.015806 0.00287 -0.16551 -0.023647 0.006123 -0.16509 -0.022471 0.006123 -0.143122 -0.014629 0.00287 -0.143542 -0.014067 0.005303 -0.163441 -0.020068 0.011314 -0.163119 -0.018892 0.011314 -0.141151 -0.01289 0.005303 -0.141472"/><mesh name="worm_h11" vertex="-0.014067 0.005303 -0.163441 -0.020068 0.011314 -0.163119 -0.018892 0.011314 -0.141151 -0.01289 0.005303 -0.141472 -0.011521 0.006929 -0.161414 -0.01477 0.014782 -0.16124 -0.013593 0.014782 -0.139272 -0.010345 0.006929 -0.139446"/><mesh name="worm_h12" vertex="-0.011521 0.006929 -0.161414 -0.01477 0.014782 -0.16124 -0.013593 0.014782 -0.139272 -0.010345 0.006929 -0.139446 -0.00854 0.0075 -0.159411 -0.00854 0.016 -0.159411 -0.007363 0.016 -0.137442 -0.007363 0.0075 -0.137442"/><mesh name="worm_h13" vertex="-0.00854 0.0075 -0.159411 -0.00854 0.016 -0.159411 -0.007363 0.016 -0.137442 -0.007363 0.0075 -0.137442 -0.005558 0.006929 -0.157408 -0.00231 0.014782 -0.157582 -0.001133 0.014782 -0.135613 -0.004381 0.006929 -0.135439"/><mesh name="worm_h14" vertex="-0.005558 0.006929 -0.157408 -0.00231 0.014782 -0.157582 -0.001133 0.014782 -0.135613 -0.004381 0.006929 -0.135439 -0.003013 0.005303 -0.155381 0.002989 0.011314 -0.155703 0.004166 0.011314 -0.133734 -0.001836 0.005303 -0.133412"/><mesh name="worm_h15" vertex="-0.003013 0.005303 -0.155381 0.002989 0.011314 -0.155703 0.004166 0.011314 -0.133734 -0.001836 0.005303 -0.133412 -0.001274 0.00287 -0.153311 0.006568 0.006123 -0.153731 0.007745 0.006123 -0.131763 -0.000097 0.00287 -0.131343"/><mesh name="worm_h16" vertex="-0.001274 0.00287 -0.153311 0.006568 0.006123 -0.153731 0.007745 0.006123 -0.131763 -0.000097 0.00287 -0.131343 -0.000588 0 -0.151185 0.007899 0 -0.15164 0.009076 0 -0.129671 0.000588 0 -0.129216"/><mesh name="worm_h17" vertex="-0.000588 0 -0.151185 0.007899 0 -0.15164 0.009076 0 -0.129671 0.000588 0 -0.129216 -0.001043 -0.00287 -0.148998 0.006799 -0.006123 -0.149418 0.007976 -0.006123 -0.127449 0.000134 -0.00287 -0.127029"/><mesh name="worm_h18" vertex="-0.001043 -0.00287 -0.148998 0.006799 -0.006123 -0.149418 0.007976 -0.006123 -0.127449 0.000134 -0.00287 -0.127029 -0.002551 -0.005303 -0.146754 0.003451 -0.011314 -0.147076 0.004628 -0.011314 -0.125107 -0.001374 -0.005303 -0.124785"/><mesh name="worm_h19" vertex="-0.002551 -0.005303 -0.146754 0.003451 -0.011314 -0.147076 0.004628 -0.011314 -0.125107 -0.001374 -0.005303 -0.124785 -0.004865 -0.006929 -0.144467 -0.001617 -0.014782 -0.144641 -0.00044 -0.014782 -0.122673 -0.003688 -0.006929 -0.122499"/><mesh name="worm_h20" vertex="-0.004865 -0.006929 -0.144467 -0.001617 -0.014782 -0.144641 -0.00044 -0.014782 -0.122673 -0.003688 -0.006929 -0.122499 -0.007616 -0.0075 -0.142157 -0.007616 -0.016 -0.142157 -0.006439 -0.016 -0.120188 -0.006439 -0.0075 -0.120188"/><mesh name="worm_h21" vertex="-0.007616 -0.0075 -0.142157 -0.007616 -0.016 -0.142157 -0.006439 -0.016 -0.120188 -0.006439 -0.0075 -0.120188 -0.010366 -0.006929 -0.139846 -0.013614 -0.014782 -0.139672 -0.012437 -0.014782 -0.117704 -0.009189 -0.006929 -0.117878"/><mesh name="worm_h22" vertex="-0.010366 -0.006929 -0.139846 -0.013614 -0.014782 -0.139672 -0.012437 -0.014782 -0.117704 -0.009189 -0.006929 -0.117878 -0.01268 -0.005303 -0.13756 -0.018682 -0.011314 -0.137238 -0.017505 -0.011314 -0.11527 -0.011503 -0.005303 -0.115591"/><mesh name="worm_h23" vertex="-0.01268 -0.005303 -0.13756 -0.018682 -0.011314 -0.137238 -0.017505 -0.011314 -0.11527 -0.011503 -0.005303 -0.115591 -0.014188 -0.00287 -0.135316 -0.02203 -0.006123 -0.134896 -0.020853 -0.006123 -0.112927 -0.013011 -0.00287 -0.113347"/><mesh name="worm_h24" vertex="-0.014188 -0.00287 -0.135316 -0.02203 -0.006123 -0.134896 -0.020853 -0.006123 -0.112927 -0.013011 -0.00287 -0.113347 -0.014643 0 -0.133129 -0.02313 0 -0.132674 -0.021954 0 -0.110705 -0.013466 0 -0.11116"/><mesh name="worm_h25" vertex="-0.014643 0 -0.133129 -0.02313 0 -0.132674 -0.021954 0 -0.110705 -0.013466 0 -0.11116 -0.013957 0.00287 -0.131002 -0.021799 0.006123 -0.130582 -0.020622 0.006123 -0.108614 -0.01278 0.00287 -0.109034"/><mesh name="worm_h26" vertex="-0.013957 0.00287 -0.131002 -0.021799 0.006123 -0.130582 -0.020622 0.006123 -0.108614 -0.01278 0.00287 -0.109034 -0.012218 0.005303 -0.128933 -0.01822 0.011314 -0.128611 -0.017043 0.011314 -0.106643 -0.011041 0.005303 -0.106964"/><mesh name="worm_h27" vertex="-0.012218 0.005303 -0.128933 -0.01822 0.011314 -0.128611 -0.017043 0.011314 -0.106643 -0.011041 0.005303 -0.106964 -0.009673 0.006929 -0.126906 -0.012921 0.014782 -0.126732 -0.011744 0.014782 -0.104763 -0.008496 0.006929 -0.104937"/><mesh name="worm_h28" vertex="-0.009673 0.006929 -0.126906 -0.012921 0.014782 -0.126732 -0.011744 0.014782 -0.104763 -0.008496 0.006929 -0.104937 -0.006691 0.0075 -0.124903 -0.006691 0.016 -0.124903 -0.005514 0.016 -0.102934 -0.005514 0.0075 -0.102934"/><mesh name="worm_h29" vertex="-0.006691 0.0075 -0.124903 -0.006691 0.016 -0.124903 -0.005514 0.016 -0.102934 -0.005514 0.0075 -0.102934 -0.00371 0.006929 -0.1229 -0.000462 0.014782 -0.123074 0.000715 0.014782 -0.101105 -0.002533 0.006929 -0.100931"/><mesh name="worm_h30" vertex="-0.00371 0.006929 -0.1229 -0.000462 0.014782 -0.123074 0.000715 0.014782 -0.101105 -0.002533 0.006929 -0.100931 -0.001164 0.005303 -0.120873 0.004837 0.011314 -0.121194 0.006014 0.011314 -0.099226 0.000012 0.005303 -0.098904"/><mesh name="worm_h31" vertex="-0.001164 0.005303 -0.120873 0.004837 0.011314 -0.121194 0.006014 0.011314 -0.099226 0.000012 0.005303 -0.098904 0.000575 0.00287 -0.118803 0.008416 0.006123 -0.119223 0.009593 0.006123 -0.097255 0.001751 0.00287 -0.096835"/><mesh name="worm_h32" vertex="0.000575 0.00287 -0.118803 0.008416 0.006123 -0.119223 0.009593 0.006123 -0.097255 0.001751 0.00287 -0.096835 0.00126 0 -0.116677 0.009748 0 -0.117132 0.010925 0 -0.095163 0.002437 0 -0.094708"/><mesh name="worm_h33" vertex="0.00126 0 -0.116677 0.009748 0 -0.117132 0.010925 0 -0.095163 0.002437 0 -0.094708 0.000806 -0.00287 -0.11449 0.008647 -0.006123 -0.11491 0.009824 -0.006123 -0.092941 0.001983 -0.00287 -0.092521"/><mesh name="worm_h34" vertex="0.000806 -0.00287 -0.11449 0.008647 -0.006123 -0.11491 0.009824 -0.006123 -0.092941 0.001983 -0.00287 -0.092521 -0.000702 -0.005303 -0.112246 0.0053 -0.011314 -0.112567 0.006476 -0.011314 -0.090599 0.000475 -0.005303 -0.090277"/><mesh name="worm_h35" vertex="-0.000702 -0.005303 -0.112246 0.0053 -0.011314 -0.112567 0.006476 -0.011314 -0.090599 0.000475 -0.005303 -0.090277 -0.003016 -0.006929 -0.109959 0.000232 -0.014782 -0.110133 0.001409 -0.014782 -0.088165 -0.00184 -0.006929 -0.087991"/><mesh name="worm_h36" vertex="-0.003016 -0.006929 -0.109959 0.000232 -0.014782 -0.110133 0.001409 -0.014782 -0.088165 -0.00184 -0.006929 -0.087991 -0.005767 -0.0075 -0.107649 -0.005767 -0.016 -0.107649 -0.00459 -0.016 -0.08568 -0.00459 -0.0075 -0.08568"/><mesh name="worm_h37" vertex="-0.005767 -0.0075 -0.107649 -0.005767 -0.016 -0.107649 -0.00459 -0.016 -0.08568 -0.00459 -0.0075 -0.08568 -0.008517 -0.006929 -0.105338 -0.011766 -0.014782 -0.105164 -0.010589 -0.014782 -0.083196 -0.00734 -0.006929 -0.08337"/><mesh name="worm_h38" vertex="-0.008517 -0.006929 -0.105338 -0.011766 -0.014782 -0.105164 -0.010589 -0.014782 -0.083196 -0.00734 -0.006929 -0.08337 -0.010832 -0.005303 -0.103052 -0.016833 -0.011314 -0.10273 -0.015656 -0.011314 -0.080762 -0.009655 -0.005303 -0.081083"/><mesh name="worm_h39" vertex="-0.010832 -0.005303 -0.103052 -0.016833 -0.011314 -0.10273 -0.015656 -0.011314 -0.080762 -0.009655 -0.005303 -0.081083 -0.012339 -0.00287 -0.100808 -0.020181 -0.006123 -0.100388 -0.019004 -0.006123 -0.078419 -0.011163 -0.00287 -0.078839"/><mesh name="worm_h40" vertex="-0.012339 -0.00287 -0.100808 -0.020181 -0.006123 -0.100388 -0.019004 -0.006123 -0.078419 -0.011163 -0.00287 -0.078839 -0.012794 0 -0.098621 -0.021282 0 -0.098166 -0.020105 0 -0.076197 -0.011617 0 -0.076652"/><mesh name="worm_h41" vertex="-0.012794 0 -0.098621 -0.021282 0 -0.098166 -0.020105 0 -0.076197 -0.011617 0 -0.076652 -0.012108 0.00287 -0.096494 -0.01995 0.006123 -0.096074 -0.018773 0.006123 -0.074106 -0.010931 0.00287 -0.074526"/><mesh name="worm_h42" vertex="-0.012108 0.00287 -0.096494 -0.01995 0.006123 -0.096074 -0.018773 0.006123 -0.074106 -0.010931 0.00287 -0.074526 -0.010369 0.005303 -0.094425 -0.016371 0.011314 -0.094103 -0.015194 0.011314 -0.072135 -0.009192 0.005303 -0.072456"/><mesh name="worm_h43" vertex="-0.010369 0.005303 -0.094425 -0.016371 0.011314 -0.094103 -0.015194 0.011314 -0.072135 -0.009192 0.005303 -0.072456 -0.007824 0.006929 -0.092398 -0.011072 0.014782 -0.092224 -0.009895 0.014782 -0.070255 -0.006647 0.006929 -0.070429"/><mesh name="worm_h44" vertex="-0.007824 0.006929 -0.092398 -0.011072 0.014782 -0.092224 -0.009895 0.014782 -0.070255 -0.006647 0.006929 -0.070429 -0.004843 0.0075 -0.090395 -0.004843 0.016 -0.090395 -0.003666 0.016 -0.068426 -0.003666 0.0075 -0.068426"/><mesh name="worm_h45" vertex="-0.004843 0.0075 -0.090395 -0.004843 0.016 -0.090395 -0.003666 0.016 -0.068426 -0.003666 0.0075 -0.068426 -0.001861 0.006929 -0.088392 0.001387 0.014782 -0.088566 0.002564 0.014782 -0.066597 -0.000684 0.006929 -0.066423"/><mesh name="worm_h46" vertex="-0.001861 0.006929 -0.088392 0.001387 0.014782 -0.088566 0.002564 0.014782 -0.066597 -0.000684 0.006929 -0.066423 0.000684 0.005303 -0.086365 0.006686 0.011314 -0.086686 0.007863 0.011314 -0.064718 0.001861 0.005303 -0.064396"/><mesh name="worm_h47" vertex="0.000684 0.005303 -0.086365 0.006686 0.011314 -0.086686 0.007863 0.011314 -0.064718 0.001861 0.005303 -0.064396 0.002423 0.00287 -0.084295 0.010265 0.006123 -0.084715 0.011442 0.006123 -0.062747 0.0036 0.00287 -0.062327"/><mesh name="worm_h48" vertex="0.002423 0.00287 -0.084295 0.010265 0.006123 -0.084715 0.011442 0.006123 -0.062747 0.0036 0.00287 -0.062327 0.003109 0 -0.082169 0.011597 0 -0.082624 0.012774 0 -0.060655 0.004286 0 -0.0602"/><mesh name="tappet_h0" vertex="-0.000643 -0.008 -0.003441 -0.000643 0 -0.003441 -0.112382 -0.008 0.01743 -0.112382 0 0.01743 -0.111097 -0.008 0.024311 -0.111097 0 0.024311 0.000643 -0.008 0.003441 0.000643 0 0.003441"/><mesh name="tappet_h1" vertex="-0.002168 -0.008 0.002748 -0.002168 0 0.002748 0.08708 -0.008 0.073147 0.08708 0 0.073147 0.091416 -0.008 0.067651 0.091416 0 0.067651 0.002168 -0.008 -0.002748 0.002168 0 -0.002748"/><mesh name="tappet_h2" vertex="-0.12508 -0.008 0.020673 -0.12508 0 0.020673 -0.109544 -0.008 0.024501 -0.109544 0 0.024501 -0.107869 -0.008 0.017704 -0.107869 0 0.017704 -0.123405 -0.008 0.013876 -0.123405 0 0.013876"/><mesh name="tappet_h3" vertex="0.085617 -0.008 0.072594 0.085617 0 0.072594 0.101152 -0.008 0.076423 0.101152 0 0.076423 0.102827 -0.008 0.069626 0.102827 0 0.069626 0.087292 -0.008 0.065798 0.087292 0 0.065798"/><mesh name="tappet_h4" vertex="-0.024374 -0.015 0.03622 -0.024374 0.015 0.03622 -0.029878 -0.015 0.058552 -0.029878 0.015 0.058552 -0.024052 -0.015 0.059988 -0.024052 0.015 0.059988 -0.018549 -0.015 0.037656 -0.018549 0.015 0.037656"/><mesh name="tappet_h5" vertex="-0.001072 -0.015 0.041963 -0.001072 0.015 0.041963 -0.006575 -0.015 0.064294 -0.006575 0.015 0.064294 -0.000749 -0.015 0.06573 -0.000749 0.015 0.06573 0.004754 -0.015 0.043398 0.004754 0.015 0.043398"/><mesh name="tappet_h6" vertex="-0.025092 -0.015 0.039133 -0.025092 -0.009 0.039133 0.004036 -0.015 0.046311 0.004036 -0.009 0.046311 -0.000749 -0.015 0.06573 -0.000749 -0.009 0.06573 -0.029878 -0.015 0.058552 -0.029878 -0.009 0.058552"/><mesh name="tappet_h7" vertex="-0.025092 0.009 0.039133 -0.025092 0.015 0.039133 0.004036 0.009 0.046311 0.004036 0.015 0.046311 -0.000749 0.009 0.06573 -0.000749 0.015 0.06573 -0.029878 0.009 0.058552 -0.029878 0.015 0.058552"/><mesh name="bucketL_h0" vertex="-0.025 -0.003 -0.051 -0.025 0.047 -0.051 -0.0225 -0.003 -0.051 -0.0225 0.047 -0.051 -0.0225 -0.003 0.004 -0.0225 0.047 0.004 -0.025 -0.003 0.004 -0.025 0.047 0.004"/><mesh name="bucketR_h0" vertex="0.0225 -0.003 -0.051 0.0225 0.047 -0.051 0.025 -0.003 -0.051 0.025 0.047 -0.051 0.025 -0.003 0.004 0.025 0.047 0.004 0.0225 -0.003 0.004 0.0225 0.047 0.004"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wwheel" pos="0 0 0.26"><geom name="wwheel_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_wind" type="hinge" axis="0 0 1" damping="0.0005" frictionloss="0"/><inertial pos="0 0 -0.009875403849" mass="0.02805744254" fullinertia="0.00005725689339 0.00005705948196 0.00007683391587 0 0 0"/><body name="sail0" pos="0.045 0 0"><joint name="j_s0" type="hinge" axis="1 0 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0475 0 -0.03550608497" mass="0.008315757715" fullinertia="0.00000370380148 0.000009953924997 0.000006258162045 0 0 0"/><geom name="sail0_sail0" type="box" pos="0.0475 0 -0.037" size="0.0475 0.0012 0.035" quat="1 0 0 0" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="sail1" pos="0.0225 0.038971 0"><joint name="j_s1" type="hinge" axis="0.5 0.866 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02375 0.0411365 -0.03550584647" mass="0.0083144748" fullinertia="0.000008390212009 0.000005265564216 0.000006257262179 -0.000002705985017 0 0"/><geom name="sail1_sail0" type="box" pos="0.02375 0.041136 -0.037" size="0.0475 0.0012 0.035" quat="0.866 0 0 0.5" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="sail2" pos="-0.0225 0.038971 0"><joint name="j_s2" type="hinge" axis="-0.5 0.866 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.02375 0.0411365 -0.03550584647" mass="0.0083144748" fullinertia="0.000008390212009 0.000005265564216 0.000006257262179 0.000002705985017 0 0"/><geom name="sail2_sail0" type="box" pos="-0.02375 0.041136 -0.037" size="0.0475 0.0012 0.035" quat="0.5 0 0 0.866" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="sail3" pos="-0.045 0 0"><joint name="j_s3" type="hinge" axis="-1 0 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0475 0 -0.03550608497" mass="0.008315757715" fullinertia="0.00000370380148 0.000009953924997 0.000006258162045 0 0 0"/><geom name="sail3_sail0" type="box" pos="-0.0475 0 -0.037" size="0.0475 0.0012 0.035" quat="0 0 0 1" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="sail4" pos="-0.0225 -0.038971 0"><joint name="j_s4" type="hinge" axis="-0.5 -0.866 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.02375 -0.0411365 -0.03550584647" mass="0.0083144748" fullinertia="0.000008390212009 0.000005265564216 0.000006257262179 -0.000002705985017 0 0"/><geom name="sail4_sail0" type="box" pos="-0.02375 -0.041136 -0.037" size="0.0475 0.0012 0.035" quat="-0.5 0 0 0.866" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="sail5" pos="0.0225 -0.038971 0"><joint name="j_s5" type="hinge" axis="0.5 -0.866 0" damping="0.00005" frictionloss="0" range="0 1.4" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02375 -0.0411365 -0.03550584647" mass="0.0083144748" fullinertia="0.000008390212009 0.000005265564216 0.000006257262179 0.000002705985017 0 0"/><geom name="sail5_sail0" type="box" pos="0.02375 -0.041136 -0.037" size="0.0475 0.0012 0.035" quat="-0.866 0 0 0.5" contype="0" conaffinity="0" group="3" mass="0" fluidshape="ellipsoid"/></body>
<body name="cross" pos="0 0 -0.12"><geom name="cross_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_cx" type="hinge" axis="1 0 0" damping="0.0002" frictionloss="0"/><inertial pos="0 0 0" mass="0.002223041227" fullinertia="2.085583178e-8 2.085583178e-8 3.811033677e-8 0 0 0"/><body name="worm" pos="0 0 0"><geom name="worm_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_worm" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="-0.006852321605 5.859600867e-9 -0.1279113794" mass="0.5922815165" fullinertia="0.0009794423028 0.0009820956283 0.00005760488282 -0.000001133967258 -0.00004952604405 -0.00002116646126"/><geom name="worm_h0" type="capsule" fromto="-0.012464 0 -0.232666 -0.011662 0 -0.217688" size="0.0035" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h1" type="mesh" mesh="worm_h1" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h2" type="mesh" mesh="worm_h2" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h3" type="mesh" mesh="worm_h3" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h4" type="mesh" mesh="worm_h4" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h5" type="mesh" mesh="worm_h5" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h6" type="mesh" mesh="worm_h6" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h7" type="mesh" mesh="worm_h7" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h8" type="mesh" mesh="worm_h8" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h9" type="mesh" mesh="worm_h9" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h10" type="mesh" mesh="worm_h10" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h11" type="mesh" mesh="worm_h11" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h12" type="mesh" mesh="worm_h12" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h13" type="mesh" mesh="worm_h13" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h14" type="mesh" mesh="worm_h14" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h15" type="mesh" mesh="worm_h15" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h16" type="mesh" mesh="worm_h16" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h17" type="mesh" mesh="worm_h17" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h18" type="mesh" mesh="worm_h18" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h19" type="mesh" mesh="worm_h19" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h20" type="mesh" mesh="worm_h20" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h21" type="mesh" mesh="worm_h21" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h22" type="mesh" mesh="worm_h22" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h23" type="mesh" mesh="worm_h23" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h24" type="mesh" mesh="worm_h24" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h25" type="mesh" mesh="worm_h25" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h26" type="mesh" mesh="worm_h26" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h27" type="mesh" mesh="worm_h27" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h28" type="mesh" mesh="worm_h28" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h29" type="mesh" mesh="worm_h29" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h30" type="mesh" mesh="worm_h30" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h31" type="mesh" mesh="worm_h31" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h32" type="mesh" mesh="worm_h32" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h33" type="mesh" mesh="worm_h33" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h34" type="mesh" mesh="worm_h34" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h35" type="mesh" mesh="worm_h35" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h36" type="mesh" mesh="worm_h36" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h37" type="mesh" mesh="worm_h37" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h38" type="mesh" mesh="worm_h38" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h39" type="mesh" mesh="worm_h39" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h40" type="mesh" mesh="worm_h40" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h41" type="mesh" mesh="worm_h41" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h42" type="mesh" mesh="worm_h42" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h43" type="mesh" mesh="worm_h43" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h44" type="mesh" mesh="worm_h44" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h45" type="mesh" mesh="worm_h45" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h46" type="mesh" mesh="worm_h46" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h47" type="mesh" mesh="worm_h47" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h48" type="mesh" mesh="worm_h48" contype="16" conaffinity="8" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
</body>
</body>
<body name="wheelL" pos="-0.0645 0 0"><geom name="wheelL_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_wL" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.01895449208 0" mass="0.3761241036" fullinertia="0.0002269405628 0.0003771021706 0.0002269405628 0 0 0"/><geom name="wheelL_h0" type="capsule" fromto="0.029 0 0 0.045 0 0" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h1" type="capsule" fromto="0.020506 0 0.020506 0.03182 0 0.03182" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h2" type="capsule" fromto="0 0 0.029 0 0 0.045" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h3" type="capsule" fromto="-0.020506 0 0.020506 -0.03182 0 0.03182" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h4" type="capsule" fromto="-0.029 0 0 -0.045 0 0" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h5" type="capsule" fromto="-0.020506 0 -0.020506 -0.03182 0 -0.03182" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h6" type="capsule" fromto="0 0 -0.029 0 0 -0.045" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelL_h7" type="capsule" fromto="0.020506 0 -0.020506 0.03182 0 -0.03182" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<body name="wheelR" pos="0.0645 0 0"><geom name="wheelR_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_wR" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.01895449601 0" mass="0.3761240256" fullinertia="0.000226940566 0.0003771022333 0.000226940566 0 0 0"/><geom name="wheelR_h0" type="capsule" fromto="0.026793 0 0.011098 0.041575 0 0.017221" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h1" type="capsule" fromto="0.011098 0 0.026793 0.017221 0 0.041575" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h2" type="capsule" fromto="-0.011098 0 0.026793 -0.017221 0 0.041575" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h3" type="capsule" fromto="-0.026793 0 0.011098 -0.041575 0 0.017221" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h4" type="capsule" fromto="-0.026793 0 -0.011098 -0.041575 0 -0.017221" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h5" type="capsule" fromto="-0.011098 0 -0.026793 -0.017221 0 -0.041575" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h6" type="capsule" fromto="0.011098 0 -0.026793 0.017221 0 -0.041575" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="wheelR_h7" type="capsule" fromto="0.026793 0 -0.011098 0.041575 0 -0.017221" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.12 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<body name="tappet" pos="0 0 -0.14"><geom name="tappet_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_tap" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.02 0.5032" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.007593875145 -0.003576562171 0.030816286" mass="0.493111086" fullinertia="0.0001331140447 0.0003390145418 0.0002564442848 9.145574091e-7 -0.00003235634155 -0.000003711092504"/><geom name="tappet_h0" type="mesh" mesh="tappet_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h1" type="mesh" mesh="tappet_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h2" type="mesh" mesh="tappet_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h3" type="mesh" mesh="tappet_h3" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h4" type="mesh" mesh="tappet_h4" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h5" type="mesh" mesh="tappet_h5" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h6" type="mesh" mesh="tappet_h6" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="tappet_h7" type="mesh" mesh="tappet_h7" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<body name="bailL" pos="-0.1095 0 -0.308"><geom name="bailL_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_bL" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.12 0.25" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.022 -0.001084204057" mass="0.009967173932" fullinertia="0.000003394053892 1.163352923e-7 0.000003305778461 0 0 0"/><geom name="bailL_h0" type="capsule" fromto="0 -0.0055 0 0 0.0495 0" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><site name="ropeL_a" pos="0 0.022 0" size="0.003"/><body name="bucketL" pos="0 0 -0.014"><geom name="bucketL_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_tL" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-1.9 0.05" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.001725652255 0.0213097391 -0.027294436" mass="0.02451564152" fullinertia="0.00001671579888 0.00001849075522 0.00001910020845 -7.74602156e-7 0.000001197009472 4.788037889e-7"/><geom name="bucketL_h0" type="mesh" mesh="bucketL_h0" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="bucketL_h1" type="capsule" fromto="-0.025 0.003 0.001 -0.07 0.003 0.001" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
</body>
<body name="bailR" pos="0.1095 0 -0.178"><geom name="bailR_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_bR" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.25 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.022 -0.001084204057" mass="0.009967173932" fullinertia="0.000003394053892 1.163352923e-7 0.000003305778461 0 0 0"/><geom name="bailR_h0" type="capsule" fromto="0 -0.0055 0 0 0.0495 0" size="0.0025" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><site name="ropeR_a" pos="0 0.022 0" size="0.003"/><body name="bucketR" pos="0 0 -0.014"><geom name="bucketR_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><joint name="j_tR" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.05 1.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.001725652255 0.0213097391 -0.027294436" mass="0.02451564152" fullinertia="0.00001671579888 0.00001849075522 0.00001910020845 7.74602156e-7 -0.000001197009472 4.788037889e-7"/><geom name="bucketR_h0" type="mesh" mesh="bucketR_h0" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="bucketR_h1" type="capsule" fromto="0.025 0.003 0.001 0.07 0.003 0.001" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
</body>
<body name="frame" pos="0 0 0"><geom name="frame_still" type="sphere" size="0.0001" contype="0" conaffinity="0" group="4" mass="0" fluidshape="ellipsoid" fluidcoef="0 0 0 0 0"/><geom name="frame_h0" type="capsule" fromto="-0.1445 -0.005 -0.153 -0.1445 0.009 -0.153" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="frame_h1" type="capsule" fromto="0.1445 -0.005 -0.153 0.1445 0.009 -0.153" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<site name="ropeL_b" pos="0 0.022 0.047" size="0.003"/>
<site name="ropeR_b" pos="0 0.022 0.047" size="0.003"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><fixed name="ropeL" limited="true" range="-10 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><joint joint="j_wL" coef="0.045"/><joint joint="j_bL" coef="-1"/></fixed><fixed name="ropeM" limited="true" range="-10 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><joint joint="j_wL" coef="-0.045"/><joint joint="j_wR" coef="0.045"/></fixed><fixed name="ropeR" limited="true" range="-10 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><joint joint="j_wR" coef="-0.045"/><joint joint="j_bR" coef="-1"/></fixed></tendon>
<actuator><motor name="drive" joint="j_wind" gear="1" ctrlrange="-0.0001 0.0001"/></actuator>
</mujoco>
