<mujocoinclude>
<!--<mujoco model="Rope">-->
<!--    <include file="basic_scene.xml"/>-->
<!--    <compiler angle="radian" />-->
<!--    <size njmax="500" nconmax="100" />-->
<!--    <worldbody>-->
        <body name="B10" pos="0.0 0.0 0.0">
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<!--            <joint type="free" />-->
            <geom name="G10" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
            <body name="B11" pos="0.035 0 0">
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                <joint name="J0_11" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                <joint name="J1_11" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                <geom name="G11" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                <body name="B12" pos="0.035 0 0">
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                    <joint name="J0_12" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                    <joint name="J1_12" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                    <geom name="G12" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                    <body name="B13" pos="0.035 0 0">
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                        <joint name="J0_13" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                        <joint name="J1_13" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                        <geom name="G13" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                        <body name="B14" pos="0.035 0 0">
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                            <joint name="J0_14" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                            <joint name="J1_14" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                            <geom name="G14" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                            <body name="B15" pos="0.035 0 0">
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                                <joint name="J0_15" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                <joint name="J1_15" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                <geom name="G15" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                <geom pos="0.03 0 0" name="I1" size="0.0025 0.01" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.7 0.7 1" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="B9" pos="-0.035 0 0">
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                <joint name="J0_9" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                <joint name="J1_9" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                <geom name="G9" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                <body name="B8" pos="-0.035 0 0">
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                    <joint name="J0_8" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                    <joint name="J1_8" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                    <geom name="G8" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                    <body name="B7" pos="-0.035 0 0">
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                        <joint name="J0_7" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                        <joint name="J1_7" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                        <geom name="G7" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                        <body name="B6" pos="-0.035 0 0">
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                            <joint name="J0_6" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                            <joint name="J1_6" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                            <geom name="G6" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                            <body name="B5" pos="-0.035 0 0">
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                                <joint name="J0_5" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                <joint name="J1_5" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                <geom name="G5" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                <body name="B4" pos="-0.035 0 0">
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                                    <joint name="J0_4" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                    <joint name="J1_4" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                    <geom name="G4" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                    <body name="B3" pos="-0.035 0 0">
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                                        <joint name="J0_3" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                        <joint name="J1_3" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                        <geom name="G3" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                        <body name="B2" pos="-0.035 0 0">
<!--                                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />-->
                                            <joint name="J0_2" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                            <joint name="J1_2" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                            <geom name="G2" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                            <body name="B1" pos="-0.035 0 0">
<!--                                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />-->
                                                <joint name="J0_1" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                                <joint name="J1_1" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                                <geom name="G1" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                                <body name="B0" pos="-0.035 0 0">
<!--                                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />-->
                                                    <joint name="J0_0" pos="0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />
                                                    <joint name="J1_0" pos="0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />
                                                    <geom name="G0" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" />
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
<!--    </worldbody>-->
</mujocoinclude>
