<!--
 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH,
 Technical University of Darmstadt, Kai Plöger, Pascal Klink, and Christan Eilers
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 1. Redistributions of source code must retain the above copyright
    notice, this list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.
 3. Neither the name of Fabio Muratore, Honda Research Institute Europe GmbH,
    or Technical University of Darmstadt, nor the names of its contributors may
    be used to endorse or promote products derived from this software without
    specific prior written permission.

 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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<mujoco model="wam_bic">
  <option integrator="Euler" timestep="0.0005"/>
  <compiler coordinate="local" angle="radian" meshdir="[ASSETS_DIR]/meshes/barrett_wam" texturedir="[ASSETS_DIR]/textures"/>
  <size njmax="500" nconmax="500"/>

  <visual>
    <rgba fog="1. 1. 1. 1."/>
    <map fogstart="0.8" fogend="2.8"/>
    <quality shadowsize="4096"/>
  </visual>
<!--  <statistic extent="4"/>-->

  <default>
    <default class="viz">
      <geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.7 0.7 0.7 1" density="0"/>
    </default>
    <default class="col">
      <geom type="mesh" contype="0" conaffinity="1" group="3" rgba="0.5 0.6 0.7 1" density="0"/>
    </default>
    <default class="x_axis">
      <geom contype="0" conaffinity="0" group="1" rgba="1 0 0 1" type="cylinder" size=".01 0.15" pos="0.15 0 0" euler="0 1.57 0"/>
    </default>
    <default class="y_axis">
      <geom contype="0" conaffinity="0" group="1" rgba="0 1 0 1" type="cylinder" size=".01 0.15" pos="0 0.15 0" euler="1.57 0 0"/>
    </default>
    <default class="z_axis">
      <geom contype="0" conaffinity="0" group="1" rgba="0 0 1 1" type="cylinder" size=".01 0.15" pos="0 0 0.15" euler="0 0 0"/>
    </default>
    <default class="cup_geom">
      <geom euler="-1.57 0 0" solref="0.001 1." pos="0 0.05 [pos_mesh]" type="mesh"/>
    </default>
    <default class="rope_geom">
      <geom size="0.002 [size_capsule_geom]" solref="0.001 1." quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1"/>
    </default>
    <default class="rope_joint_y">
      <joint pos="[pos_capsule_joint] 0 0" axis="0 1 0" limited="false" damping="[rope_damping]" frictionloss="0"/>
    </default>
    <default class="rope_joint_z">
      <joint pos="[pos_capsule_joint] 0 0" axis="0 0 1" limited="false" damping="[rope_damping]" frictionloss="0"/>
    </default>
  </default>

  <asset>
<!--    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"  width="2048" height="2048"  mark="cross" markrgb=".8 .8 .8"/>-->
    <texture name="texplane" type="2d" file="IAS_floor.png" width="2048" height="2048"/>
    <texture name="sky" type="skybox" builtin="flat" rgb2="1. 1. 1." height="2048" width="2048"/>
    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="5 5"/>

    <mesh name="base_link_fine" file="base_link_fine.stl"/>
    <mesh name="base_link_convex" file="base_link_convex.stl"/>
    <mesh name="shoulder_link_fine" file="shoulder_link_fine.stl"/>
    <mesh name="shoulder_link_convex_decomposition_p1" file="shoulder_link_convex_decomposition_p1.stl"/>
    <mesh name="shoulder_link_convex_decomposition_p2" file="shoulder_link_convex_decomposition_p2.stl"/>
    <mesh name="shoulder_link_convex_decomposition_p3" file="shoulder_link_convex_decomposition_p3.stl"/>
    <mesh name="shoulder_pitch_link_fine" file="shoulder_pitch_link_fine.stl"/>
    <mesh name="shoulder_pitch_link_convex" file="shoulder_pitch_link_convex.stl"/>
    <mesh name="upper_arm_link_fine" file="upper_arm_link_fine.stl"/>
    <mesh name="upper_arm_link_convex_decomposition_p1" file="upper_arm_link_convex_decomposition_p1.stl"/>
    <mesh name="upper_arm_link_convex_decomposition_p2" file="upper_arm_link_convex_decomposition_p2.stl"/>
    <mesh name="elbow_link_fine" file="elbow_link_fine.stl"/>
    <mesh name="elbow_link_convex" file="elbow_link_convex.stl"/>
    <mesh name="forearm_link_fine" file="forearm_link_fine.stl"/>
    <mesh name="forearm_link_convex_decomposition_p1" file="forearm_link_convex_decomposition_p1.stl"/>
    <mesh name="forearm_link_convex_decomposition_p2" file="forearm_link_convex_decomposition_p2.stl"/>
    <mesh name="wrist_yaw_link_fine" file="wrist_yaw_link_fine.stl"/>
    <mesh name="wrist_yaw_link_convex_decomposition_p1" file="wrist_yaw_link_convex_decomposition_p1.stl"/>
    <mesh name="wrist_yaw_link_convex_decomposition_p2" file="wrist_yaw_link_convex_decomposition_p2.stl"/>
    <mesh name="wrist_pitch_link_fine" file="wrist_pitch_link_fine.stl"/>
    <mesh name="wrist_pitch_link_convex_decomposition_p1" file="wrist_pitch_link_convex_decomposition_p1.stl"/>
    <mesh name="wrist_pitch_link_convex_decomposition_p2" file="wrist_pitch_link_convex_decomposition_p2.stl"/>
    <mesh name="wrist_pitch_link_convex_decomposition_p3" file="wrist_pitch_link_convex_decomposition_p3.stl"/>
    <mesh name="wrist_palm_link_fine" file="wrist_palm_link_fine.stl"/>
    <mesh name="wrist_palm_link_convex" file="wrist_palm_link_convex.stl"/>
    <mesh name="cup1" file="cup_split1.stl" scale="0.001 0.001 0.001"/>
    <mesh name="cup2" file="cup_split2.stl" scale="0.001 0.001 0.001"/>
    <mesh name="cup3" file="cup_split3.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup4" file="cup_split4.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup5" file="cup_split5.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup6" file="cup_split6.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup7" file="cup_split7.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup8" file="cup_split8.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup9" file="cup_split9.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup10" file="cup_split10.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup11" file="cup_split11.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup12" file="cup_split12.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup13" file="cup_split13.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup14" file="cup_split14.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup15" file="cup_split15.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup16" file="cup_split16.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup17" file="cup_split17.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
    <mesh name="cup18" file="cup_split18.stl" scale="[scale_mesh] [scale_mesh] 0.001"/>
  </asset>

  <worldbody>
    <light mode="fixed" directional="true" diffuse="0.5 0.5 0.5" specular="0 0 0" pos="1 0 4" dir="0 0 -1" castshadow="false"/>
    <light mode="targetbodycom" target="wam/base_link" directional="false" diffuse="0.8 0.8 0.8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
    <!--    <light mode="fixed" directional="false" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3" pos="-2 -2 2" dir="1.5 1 -0.5" castshadow="true"/>-->
    <!--    <light mode="fixed" directional="false" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3" pos="-2  2 2" dir="1.5 -1 -0.5" castshadow="true"/>-->
    <!--    <light mode="fixed" directional="false" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3" pos=" 2 -2 2" dir="-0.5 1 -0.5" castshadow="true"/>-->
    <!--    <light mode="fixed" directional="false" diffuse="0.7 0.7 0.7" specular="0.3 0.3 0.3" pos=" 2  2 2" dir="-0.5 -1 -0.5" castshadow="true"/>-->

    <geom name="floor" pos="0 0 0" size="10 10 .05" type="plane" material="matplane" condim="3" solref="0.001 1."/>
    <geom class="x_axis"/>
    <geom class="y_axis"/>
    <geom class="z_axis"/>

    <body name="wam/base_link" pos="0 0 .84" euler="0 0 1.57">
      <inertial pos="6.93764e-06 0.0542887 0.076438" quat="0.496481 0.503509 -0.503703 0.496255" mass="27.5544" diaginertia="0.432537 0.318732 0.219528"/>
      <geom class="viz" mesh="base_link_fine" euler="0 0 -1.57"/>
      <geom class="col" mesh="base_link_convex" euler="0 0 -1.57"/>
      <!--<geom class="x_axis"/>-->
      <!--<geom class="y_axis"/>-->
      <!--<geom class="z_axis"/>-->

      <body name="wam/shoulder_yaw_link" pos="0 0 0.160" euler="0 0 -1.57">
        <inertial pos="-0.00443422 -0.00066489 -0.12189039" mass="10.76768767" fullinertia="0.50739925 0.46298222 0.11328369 0.00012485 -0.00213041 0.00068555"/>
        <joint name="wam/base_yaw_joint" range="-2.6 2.6" frictionloss="[joint_1_dryfriction]" damping="[joint_1_damping]"/>
        <geom class="viz" mesh="shoulder_link_fine" pos="0 0 0.186"/>
        <geom class="col" mesh="shoulder_link_convex_decomposition_p1" pos="0 0 0.186"/>
        <geom class="col" mesh="shoulder_link_convex_decomposition_p2" pos="0 0 0.186"/>
        <geom class="col" mesh="shoulder_link_convex_decomposition_p3" pos="0 0 0.186"/>

        <body name="wam/shoulder_pitch_link" pos="0 0 0.184" quat="0.707107 -0.707107 0 0">
          <inertial pos="-0.00236983 -0.01542114 0.03105614" mass="3.87493756" fullinertia="0.02140958 0.01558906 0.01377875 0.00002461 -0.00027172 -0.00181920"/>
          <joint name="wam/shoulder_pitch_joint" range="-1.985 1.985" frictionloss="[joint_2_dryfriction]" damping="[joint_2_damping]"/>
          <geom class="viz" mesh="shoulder_pitch_link_fine"/>
          <geom class="col" mesh="shoulder_pitch_link_convex"/>

          <body name="wam/upper_arm_link" pos="0 -0.505 0" quat="0.707107 0.707107 0 0">
            <inertial pos="-0.03825858 0.00003309 -0.20750770" mass="1.80228141" fullinertia="0.06276039 0.06656967 0.00689512 -0.00000738 -0.00614574 -0.00001767"/>
            <joint name="wam/shoulder_yaw_joint" range="-2.8 2.8" frictionloss="[joint_3_dryfriction]" damping="[joint_3_damping]"/>
            <geom class="viz" mesh="upper_arm_link_fine" pos="0 0 -0.505"/>
            <geom class="col" mesh="upper_arm_link_convex_decomposition_p1" pos="0 0 -0.505"/>
            <geom class="col" mesh="upper_arm_link_convex_decomposition_p2" pos="0 0 -0.505"/>

            <body name="wam/forearm_link" pos="0.045 0 0.045" quat="0.707107 -0.707107 0 0">
              <inertial pos="0.00498512 -0.13271662 -0.00022942" mass="2.40016804" fullinertia="0.01491672 0.00780497 0.01968956 -0.00150604 -0.00001741 -0.00002109"/>
              <joint name="wam/elbow_pitch_joint" range="-0.9 3.14159" frictionloss="[joint_4_dryfriction]" damping="[joint_4_damping]"/>
              <geom class="viz" mesh="elbow_link_fine"/>
              <geom class="col" mesh="elbow_link_convex"/>
              <geom class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0" euler="1.57 0 0"/>
              <geom class="col" mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0" euler="1.57 0 0"/>
              <geom class="col" mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0" euler="1.57 0 0"/>

              <body name="wam/wrist_yaw_link" pos="-0.045 0 0" quat="0.707107 0.707107 0 0">
                <inertial pos="0.00008921 0.00435824 -0.00511217" mass="0.12376019" fullinertia="0.01118871 0.01120112 0.00007582 0.00000005 0.00000020 -0.00000359"/>
                <joint name="wam/wrist_yaw_joint" range="-4.55 1.25" frictionloss="[joint_5_dryfriction]" damping="[joint_5_damping]"/>
                <geom class="viz" mesh="wrist_yaw_link_fine" pos="0 0 0.3"/>
                <geom class="col" mesh="wrist_yaw_link_convex_decomposition_p1" pos="0 0 0.3"/>
                <geom class="col" mesh="wrist_yaw_link_convex_decomposition_p2" pos="0 0 0.3"/>

                <body name="wam/wrist_pitch_link" pos="0 0 0.3" quat="0.707107 -0.707107 0 0">
                  <inertial pos="-0.00012262 -0.02468336 -0.01703194" mass="0.41797364" fullinertia="0.00055516 0.00045358 0.00024367 -0.00000074 -0.00000061 -0.00004590"/>
                  <joint name="wam/wrist_pitch_joint" range="-1.5707 1.5707" frictionloss="[joint_6_dryfriction]" damping="[joint_6_damping]"/>
                  <geom class="viz" mesh="wrist_pitch_link_fine" pos="0 0 0"/>
                  <geom class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
                  <geom class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
                  <geom class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>

                  <body name="wam/wrist_palm_link" pos="0 -0.06 0" quat="0.707107 0.707107 0 0">
                    <inertial pos="-0.00007974 -0.00323552 -0.00016313" mass="0.06864753" fullinertia="0.00003773 0.00007408 0.00003806 0.00000000 -0.00000019 0.00000000"/>
                    <joint name="wam/palm_yaw_joint" range="-2.7 2.7" frictionloss="[joint_7_dryfriction]" damping="[joint_7_damping]"/>
                    <geom class="viz" mesh="wrist_palm_link_fine" pos="0 0 -0.06"/>
                    <!--<geom class="x_axis"/>-->
                    <!--<geom class="y_axis"/>-->
                    <!--<geom class="z_axis"/>-->

                    <body name="cup" pos="0 0 0" quat="-0.000203673 0 0 1">
                      <inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="0.132" diaginertia="0.000285643 0.000270485 9.65696e-05"/>
                      <geom name="cup_geom1" class="cup_geom" pos="0 0.05 0.055" mesh="cup1"/>
                      <geom name="cup_geom2" class="cup_geom" pos="0 0.05 0.055" mesh="cup2"/>
                      <geom name="cup_geom3" class="cup_geom" mesh="cup3"/>
                      <geom name="cup_geom4" class="cup_geom" mesh="cup4"/>
                      <geom name="cup_geom5" class="cup_geom" mesh="cup5"/>
                      <geom name="cup_geom6" class="cup_geom" mesh="cup6"/>
                      <geom name="cup_geom7" class="cup_geom" mesh="cup7"/>
                      <geom name="cup_geom8" class="cup_geom" mesh="cup8"/>
                      <geom name="cup_geom9" class="cup_geom" mesh="cup9"/>
                      <geom name="cup_geom10" class="cup_geom" mesh="cup10"/>
                      <!--<geom name="cup_geom11" class="cup_geom" mesh="cup11"/>-->
                      <!--<geom name="cup_geom12" class="cup_geom" mesh="cup12"/>-->
                      <!--<geom name="cup_geom13" class="cup_geom" mesh="cup13"/>-->
                      <!--<geom name="cup_geom14" class="cup_geom" mesh="cup14" />-->
                      <geom name="cup_base" class="cup_geom" pos="0 -0.035 [pos_goal]" type="cylinder" size="[size_cup] 0.0045"/>
                      <geom name="cup_geom15" class="cup_geom" mesh="cup15"/>
                      <geom name="cup_geom16" class="cup_geom" mesh="cup16"/>
                      <geom name="cup_geom17" class="cup_geom" mesh="cup17"/>
                      <geom name="cup_geom18" class="cup_geom" mesh="cup18"/>
                      <!-- cup_inner defines the inner space of the cup;  gap: arbitrary large value to generate "inactive" contacts -->
                      <geom name="cup_inner" pos="0 0 [pos_goal]" euler="-1.57 0 0" type="cylinder" size="[size_cup_inner] 0.03" group="3" gap="1000" rgba="0.9 1 0 1"/>
                      <!-- This goal site defines the upper rim center of the cup -->
                      <!-- <site name="cup_goal" pos="0 0.05 [pos_goal]" size="1e-5"/> -->
                      <!-- This goal site defines the bottom center of the cup -->
                      <site name="cup_goal" pos="0 -0.01 [pos_goal]" size="1e-5"/>

                      <body name="B0" pos="0 -0.045 [pos_goal]" quat="0.707107 0 0 -0.707107">
                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                        <joint name="J0_0" class="rope_joint_y"/>
                        <joint name="J1_0" class="rope_joint_z"/>
                        <geom name="G0" class="rope_geom"/>
                        <body name="B1" pos="[pos_capsule] 0 0">
                          <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                          <joint name="J0_1" class="rope_joint_y"/>
                          <joint name="J1_1" class="rope_joint_z"/>
                          <geom name="G1" class="rope_geom"/>
                          <body name="B2" pos="[pos_capsule] 0 0">
                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                            <joint name="J0_2" class="rope_joint_y"/>
                            <joint name="J1_2" class="rope_joint_z"/>
                            <geom name="G2" class="rope_geom"/>
                            <body name="B3" pos="[pos_capsule] 0 0">
                              <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                              <joint name="J0_3" class="rope_joint_y"/>
                              <joint name="J1_3" class="rope_joint_z"/>
                              <geom name="G3" class="rope_geom"/>
                              <body name="B4" pos="[pos_capsule] 0 0">
                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                <joint name="J0_4" class="rope_joint_y"/>
                                <joint name="J1_4" class="rope_joint_z"/>
                                <geom name="G4" class="rope_geom"/>
                                <body name="B5" pos="[pos_capsule] 0 0">
                                  <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                  <joint name="J0_5" class="rope_joint_y"/>
                                  <joint name="J1_5" class="rope_joint_z"/>
                                  <geom name="G5" class="rope_geom"/>
                                  <body name="B6" pos="[pos_capsule] 0 0">
                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                    <joint name="J0_6" class="rope_joint_y"/>
                                    <joint name="J1_6" class="rope_joint_z"/>
                                    <geom name="G6" class="rope_geom"/>
                                    <body name="B7" pos="[pos_capsule] 0 0">
                                      <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                      <joint name="J0_7" class="rope_joint_y"/>
                                      <joint name="J1_7" class="rope_joint_z"/>
                                      <geom name="G7" class="rope_geom"/>
                                      <body name="B8" pos="[pos_capsule] 0 0">
                                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                        <joint name="J0_8" class="rope_joint_y"/>
                                        <joint name="J1_8" class="rope_joint_z"/>
                                        <geom name="G8" class="rope_geom"/>
                                        <body name="B9" pos="[pos_capsule] 0 0">
                                          <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                          <joint name="J0_9" class="rope_joint_y"/>
                                          <joint name="J1_9" class="rope_joint_z"/>
                                          <geom name="G9" class="rope_geom"/>
                                          <body name="B10" pos="[pos_capsule] 0 0">
                                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                            <joint name="J0_10" class="rope_joint_y"/>
                                            <joint name="J1_10" class="rope_joint_z"/>
                                            <geom name="G10" class="rope_geom"/>
                                            <body name="B11" pos="[pos_capsule] 0 0">
                                              <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                              <joint name="J0_11" class="rope_joint_y"/>
                                              <joint name="J1_11" class="rope_joint_z"/>
                                              <geom name="G11" class="rope_geom"/>
                                              <body name="B12" pos="[pos_capsule] 0 0">
                                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                <joint name="J0_12" class="rope_joint_y"/>
                                                <joint name="J1_12" class="rope_joint_z"/>
                                                <geom name="G12" class="rope_geom"/>
                                                <body name="B13" pos="[pos_capsule] 0 0">
                                                  <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                  <joint name="J0_13" class="rope_joint_y"/>
                                                  <joint name="J1_13" class="rope_joint_z"/>
                                                  <geom name="G13" class="rope_geom"/>
                                                  <body name="B14" pos="[pos_capsule] 0 0">
                                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                    <joint name="J0_14" class="rope_joint_y"/>
                                                    <joint name="J1_14" class="rope_joint_z"/>
                                                    <geom name="G14" class="rope_geom"/>
                                                    <body name="B15" pos="[pos_capsule] 0 0">
                                                      <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                      <joint name="J0_15" class="rope_joint_y"/>
                                                      <joint name="J1_15" class="rope_joint_z"/>
                                                      <geom name="G15" class="rope_geom"/>
                                                      <body name="B16" pos="[pos_capsule] 0 0">
                                                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                        <joint name="J0_16" class="rope_joint_y"/>
                                                        <joint name="J1_16" class="rope_joint_z"/>
                                                        <geom name="G16" class="rope_geom"/>
                                                        <body name="B17" pos="[pos_capsule] 0 0">
                                                          <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                          <joint name="J0_17" class="rope_joint_y"/>
                                                          <joint name="J1_17" class="rope_joint_z"/>
                                                          <geom name="G17" class="rope_geom"/>
                                                          <body name="B18" pos="[pos_capsule] 0 0">
                                                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                            <joint name="J0_18" class="rope_joint_y"/>
                                                            <joint name="J1_18" class="rope_joint_z"/>
                                                            <geom name="G18" class="rope_geom"/>
                                                            <body name="B19" pos="[pos_capsule] 0 0">
                                                              <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                              <joint name="J0_19" class="rope_joint_y"/>
                                                              <joint name="J1_19" class="rope_joint_z"/>
                                                              <geom name="G19" class="rope_geom"/>
                                                              <body name="B20" pos="[pos_capsule] 0 0">
                                                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                <joint name="J0_20" class="rope_joint_y"/>
                                                                <joint name="J1_20" class="rope_joint_z"/>
                                                                <geom name="G20" class="rope_geom"/>
                                                                <body name="B21" pos="[pos_capsule] 0 0">
                                                                  <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                  <joint name="J0_21" class="rope_joint_y"/>
                                                                  <joint name="J1_21" class="rope_joint_z"/>
                                                                  <geom name="G21" class="rope_geom"/>
                                                                  <body name="B22" pos="[pos_capsule] 0 0">
                                                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                    <joint name="J0_22" class="rope_joint_y"/>
                                                                    <joint name="J1_22" class="rope_joint_z"/>
                                                                    <geom name="G22" class="rope_geom"/>
                                                                    <body name="B23" pos="[pos_capsule] 0 0">
                                                                      <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                      <joint name="J0_23" class="rope_joint_y"/>
                                                                      <joint name="J1_23" class="rope_joint_z"/>
                                                                      <geom name="G23" class="rope_geom"/>
                                                                      <body name="B24" pos="[pos_capsule] 0 0">
                                                                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                        <joint name="J0_24" class="rope_joint_y"/>
                                                                        <joint name="J1_24" class="rope_joint_z"/>
                                                                        <geom name="G24" class="rope_geom"/>
                                                                        <body name="B25" pos="[pos_capsule] 0 0">
                                                                          <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                          <joint name="J0_25" class="rope_joint_y"/>
                                                                          <joint name="J1_25" class="rope_joint_z"/>
                                                                          <geom name="G25" class="rope_geom"/>
                                                                          <body name="B26" pos="[pos_capsule] 0 0">
                                                                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                            <joint name="J0_26" class="rope_joint_y"/>
                                                                            <joint name="J1_26" class="rope_joint_z"/>
                                                                            <geom name="G26" class="rope_geom"/>
                                                                            <body name="B27" pos="[pos_capsule] 0 0">
                                                                              <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                              <joint name="J0_27" class="rope_joint_y"/>
                                                                              <joint name="J1_27" class="rope_joint_z"/>
                                                                              <geom name="G27" class="rope_geom"/>
                                                                              <body name="B28" pos="[pos_capsule] 0 0">
                                                                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                                <joint name="J0_28" class="rope_joint_y"/>
                                                                                <joint name="J1_28" class="rope_joint_z"/>
                                                                                <geom name="G28" class="rope_geom"/>
                                                                                <body name="B29" pos="[pos_capsule] 0 0">
                                                                                  <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11"/>
                                                                                  <joint name="J0_29" class="rope_joint_y"/>
                                                                                  <joint name="J1_29" class="rope_joint_z"/>
                                                                                  <geom name="G29" class="rope_geom"/>
                                                                                  <body name="ball">
                                                                                    <geom name="ball_geom" type="sphere" size="0.02" mass="[ball_mass]" solref="0.005 1." rgba="0.8 0.2 0.1 1"/>
                                                                                  </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>
  </worldbody>
</mujoco>
