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<geom name="sp" type="capsule" fromto="0 0 -0.12 0 0 0.132" size="0.003" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="collar" type="capsule" fromto="0 0 -0.025 0 0 -0.016" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl0" type="capsule" fromto="0 0 0.133 0.024 0 0.135" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl1" type="capsule" fromto="0.024 0 0.135 0.042 0 0.126" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl2" type="capsule" fromto="0.042 0 0.126 0.0475 0 0.108" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl3" type="capsule" fromto="0.0475 0 0.108 0.0475 0 0.032" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl4" type="capsule" fromto="0.0475 0 0.032 0.049 0 0.022" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl5" type="capsule" fromto="0 0 0.133 -0.024 0 0.135" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl6" type="capsule" fromto="-0.024 0 0.135 -0.042 0 0.126" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl7" type="capsule" fromto="-0.042 0 0.126 -0.0475 0 0.108" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl8" type="capsule" fromto="-0.0475 0 0.108 -0.0475 0 0.032" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl9" type="capsule" fromto="-0.0475 0 0.032 -0.049 0 0.022" size="0.002" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="cap" type="capsule" fromto="0 0 0.13 0 0 0.174" size="0.0055" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="cap2" type="capsule" fromto="0 0 0.156 0 0 0.164" size="0.0075" contype="0" conaffinity="0" group="1" mass="0"/>
<site name="yarn_p8" pos="0 0 0.176" size="0.003" group="4"/><site name="yarn_p9" pos="0.0065 0 0.1535" size="0.003" group="4"/><site name="yarn_p10" pos="0.013 0 0.147" size="0.003" group="4"/><site name="yarn_p11" pos="0.043 0 0.1225" size="0.003" group="4"/><site name="yarn_p12" pos="0.0495 0 0.116" size="0.003" group="4"/><site name="yarn_p13" pos="0.0495 0 0.036" size="0.003" group="4"/><site name="yarn_p14" pos="0.04574 -0.0039 0.024" size="0.003" group="4"/><site name="yarn_p15" pos="0.020459 -0.023952 0.018" size="0.003" group="4"/></body>
<body name="bobbin" pos="0 0 0" quat="1 0 0 0"><joint name="j_bob" type="hinge" axis="0 0 1" damping="0.00002" frictionloss="0.0002"/><inertial pos="0 0 0.04573739638" mass="0.1554345341" fullinertia="0.0004377937926 0.0004377937926 0.00006834550503 0 0 0"/><body name="wound_w" pos="0 0 0.018" quat="0.70710678 0.70710678 0 0"><geom name="wound_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.03" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<geom name="barrel" type="capsule" fromto="0 0 -0.009 0 0 0.112" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl_bot" type="capsule" fromto="0 0 -0.009 0 0 0" size="0.037" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="fl_top" type="capsule" fromto="0 0 0.106 0 0 0.112" size="0.033" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="full" type="capsule" fromto="0 0 0 0 0 0.106" size="0.0295" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="saddleA" pos="-0.11 0 0.2855"><joint name="j_sA" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0015 0.008" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01134586118 0.0004591163238" mass="0.3" fullinertia="0.00004353397769 0.000003605301095 0.00004295445118 0 0 -0.00000119197692"/><body name="topA" pos="0 0 0"><joint name="j_tA" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0 0" mass="0.35" diaginertia="0.0000686 0.00006776 0.0000686"/><geom name="topA_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.022" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
</body>
<body name="saddleB" pos="-0.0235 0 0.2855"><joint name="j_sB" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0015 0.008" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01134586118 0.0004591163238" mass="0.3" fullinertia="0.00004353397769 0.000003605301095 0.00004295445118 0 0 -0.00000119197692"/><body name="topB" pos="0 0 0"><joint name="j_tB" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0 0" mass="0.35" diaginertia="0.0000686 0.00006776 0.0000686"/><geom name="topB_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.022" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
</body>
<body name="roving" pos="-0.24 0 0.262"><joint name="j_f" type="slide" axis="1 0 0" damping="1.5" frictionloss="0"/><inertial pos="0 0 0" mass="0.01" fullinertia="4e-8 4e-8 2e-8 0 0 0"/><site name="yarn_p0" pos="0 0 0" size="0.003" group="4"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="yarn_s0" pos="-0.11 0 0.262"><joint name="yarn_s0" type="slide" axis="1 0 0"/><geom name="yarn_s0_g" type="sphere" size="0.003" contype="0" conaffinity="0" group="4" mass="0.01"/></body>
<body name="yarn_s1" pos="-0.0235 0 0.262"><joint name="yarn_s1" type="slide" axis="1 0 0"/><geom name="yarn_s1_g" type="sphere" size="0.003" contype="0" conaffinity="0" group="4" mass="0.01"/></body>
<body name="yarn_draft" pos="-0.06675 0 0.262"><joint name="yarn_draft" type="slide" axis="1 0 0" frictionloss="1" solreffriction="0.0002 1" solimpfriction="0.9999 0.9999 0.001"/><geom name="yarn_draft_g" type="sphere" size="0.003" contype="0" conaffinity="0" group="4" mass="0.01"/></body>
<site name="yarn_p1" pos="-0.11 0 0.262" size="0.003" group="4"/><site name="yarn_p2" pos="-0.11 0 0.262" size="0.003" group="4"/><site name="yarn_p3" pos="-0.0235 0 0.262" size="0.003" group="4"/><site name="yarn_p4" pos="-0.0235 0 0.262" size="0.003" group="4"/><site name="yarn_p5" pos="-0.01175 0 0.258852" size="0.003" group="4"/><site name="yarn_p6" pos="-0.003148 0 0.25025" size="0.003" group="4"/><site name="yarn_p7" pos="0 0 0.2385" size="0.003" group="4"/><geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><fixed name="yarn_s0_bottom" frictionloss="3.18825" solreffriction="0.0002 1" solimpfriction="0.9999 0.9999 0.001"><joint joint="yarn_s0" coef="1"/><joint joint="j_A" coef="-0.0235"/></fixed><fixed name="yarn_s0_top" frictionloss="3.18825" solreffriction="0.0002 1" solimpfriction="0.9999 0.9999 0.001"><joint joint="yarn_s0" coef="1"/><joint joint="j_tA" coef="0.0235"/></fixed><fixed name="yarn_s1_bottom" frictionloss="3.18825" solreffriction="0.0002 1" solimpfriction="0.9999 0.9999 0.001"><joint joint="yarn_s1" coef="1"/><joint joint="j_B" coef="-0.0235"/></fixed><fixed name="yarn_s1_top" frictionloss="3.18825" solreffriction="0.0002 1" solimpfriction="0.9999 0.9999 0.001"><joint joint="yarn_s1" coef="1"/><joint joint="j_tB" coef="0.0235"/></fixed><fixed name="yarn_feed" stiffness="2000" springlength="-1000 -0.00001" damping="0.5"><joint joint="yarn_s0" coef="1"/><joint joint="j_f" coef="-1"/></fixed><fixed name="yarn_drawn" stiffness="2000" springlength="-1000 -0.00001" damping="0.5"><joint joint="yarn_s1" coef="1"/><joint joint="yarn_s0" coef="-1"/><joint joint="yarn_draft" coef="-1"/></fixed><fixed name="yarn_wound" stiffness="2000" springlength="-1000 -0.00001" damping="0.5"><joint joint="j_s" coef="0.0315"/><joint joint="j_bob" coef="-0.0315"/><joint joint="yarn_s1" coef="-1"/></fixed></tendon>
<actuator><velocity name="drive" joint="j_B" kv="3" forcerange="-5 5"/></actuator>
</mujoco>
