<?xml version="1.0" encoding="utf-8"?>
<mujoco model="tendon">
	<compiler coordinate="global"/>
	<default>
		<geom rgba="0.9 0.7 0.1 1" size="0.01"/>
		<site rgba="0.9 0.9 0.9 1" size="0.005" type="sphere"/>
		<joint axis="0 1 0" limited="true" range="0 60" type="hinge" solimplimit="0.95 0.95 0.1"/>
	</default>
	<visual>
		<headlight diffuse="0.7 0.7 0.7"/>
	</visual>
	<worldbody>
		<body>
			<geom density="5000" fromto="-0.03 0 0.2 -0.03 0 0.15" rgba="0.2 0.2 0.5 1" size="0.03" type="cylinder"/>
			<joint axis="0 0 1" limited="false" pos="-0.03 0 0.2" type="slide"/>
			<site name="s1" pos="-0.03 0 0.2"/>
		</body>
		<site name="s2" pos="-0.03 0 0.32"/>
		<body>
			<geom fromto="0 0 0.3 0.1 0 0.3" type="capsule"/>
			<geom fromto="0.0 0.015 0.3 0.0 -0.015 0.3" name="g1" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
			<joint pos="0 0 0.3"/>
			<site name="s3" pos="0.02 0 0.32"/>
			<body>
				<geom fromto="0.1 0 0.3 0.2 0 0.3" type="capsule"/>
				<geom fromto="0.1 0.015 0.3 0.1 -0.015 0.3" name="g2" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
				<joint pos="0.1 0 0.3"/>
				<site name="s4" pos="0.13 0 0.31"/>
				<site name="s5" pos="0.15 0 0.32"/>
				<site name="side2" pos="0.1 0 0.33"/>
				<body>
					<geom fromto="0.2 0 0.3 0.27 0 0.3" type="capsule"/>
					<geom fromto="0.2 0.015 0.3 0.2 -0.015 0.3" name="g3" rgba="0.3 0.9 0.3 0.4" size="0.02" type="cylinder"/>
					<joint pos="0.2 0 0.3"/>
					<site name="s6" pos="0.23 0 0.31"/>
					<site name="side3" pos="0.2 0 0.33"/>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<spatial limited="true" range="0 0.33" rgba="0.95 0.3 0.3 1" width="0.002">
			<site site="s1"/>
			<site site="s2"/>
			<geom geom="g1"/>
			<site site="s3"/>
			<pulley divisor="2"/>
			<site site="s3"/>
			<geom geom="g2" sidesite="side2"/>
			<site site="s4"/>
			<pulley divisor="2"/>
			<site site="s3"/>
			<geom geom="g2" sidesite="side2"/>
			<site site="s5"/>
			<geom geom="g3" sidesite="side3"/>
			<site site="s6"/>
		</spatial>
	</tendon>
</mujoco>