<mujoco model="Rope">

    <include file="tendon_scene.xml"/>

    <option timestep="0.002" tolerance="1e-10" jacobian="dense" gravity="0.981 0 0"/>

    <size nconmax="100" njmax="300" nstack="50000"/>

    <worldbody>
	<body name="rope20" pos="0 0 1" axisangle="0 1 0 90">
	    <body>
		<geom type="capsule" pos="0 0 0.0000" size=".01 .015" rgba=".8 .2 .1 1"/>
		<!--joint type="hinge" pos="0 0 -0.0600" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 -0.0600" axis="0 1 0"  damping="1" stiffness="1.00"/-->
		<site name="s_0_1_1" pos="-0.0700 0 -0.0600"/>
		<site name="s_0_2_1" pos="0.0700 0 -0.0600"/>
		<site name="s_0_3_1" pos="0 -0.0700 -0.0600"/>
		<site name="s_0_4_1" pos="0 0.0700 -0.0600"/>
		<body>
		<geom type="capsule" pos="0 0 0.1200" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.0600" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.0600" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_2" pos="-0.0700 0 0.0600"/>
		<site name="s_0_2_2" pos="0.0700 0 0.0600"/>
		<site name="s_0_3_2" pos="0 -0.0700 0.0600"/>
		<site name="s_0_4_2" pos="0 0.0700 0.0600"/>
		<body>
		<geom type="capsule" pos="0 0 0.2400" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.1800" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.1800" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_3" pos="-0.0700 0 0.1800"/>
		<site name="s_0_2_3" pos="0.0700 0 0.1800"/>
		<site name="s_0_3_3" pos="0 -0.0700 0.1800"/>
		<site name="s_0_4_3" pos="0 0.0700 0.1800"/>
		<body>
		<geom type="capsule" pos="0 0 0.3600" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.3000" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.3000" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_4" pos="-0.0700 0 0.3000"/>
		<site name="s_0_2_4" pos="0.0700 0 0.3000"/>
		<site name="s_0_3_4" pos="0 -0.0700 0.3000"/>
		<site name="s_0_4_4" pos="0 0.0700 0.3000"/>
		<body>
		<geom type="capsule" pos="0 0 0.4800" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.4200" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.4200" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_5" pos="-0.0700 0 0.4200"/>
		<site name="s_0_2_5" pos="0.0700 0 0.4200"/>
		<site name="s_0_3_5" pos="0 -0.0700 0.4200"/>
		<site name="s_0_4_5" pos="0 0.0700 0.4200"/>
		<body>
		<geom type="capsule" pos="0 0 0.6000" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.5400" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.5400" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_6" pos="-0.0700 0 0.5400"/>
		<site name="s_0_2_6" pos="0.0700 0 0.5400"/>
		<site name="s_0_3_6" pos="0 -0.0700 0.5400"/>
		<site name="s_0_4_6" pos="0 0.0700 0.5400"/>
		<body>
		<geom type="capsule" pos="0 0 0.7200" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.6600" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.6600" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_7" pos="-0.0700 0 0.6600"/>
		<site name="s_0_2_7" pos="0.0700 0 0.6600"/>
		<site name="s_0_3_7" pos="0 -0.0700 0.6600"/>
		<site name="s_0_4_7" pos="0 0.0700 0.6600"/>
		<body>
		<geom type="capsule" pos="0 0 0.8400" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.7800" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.7800" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_8" pos="-0.0700 0 0.7800"/>
		<site name="s_0_2_8" pos="0.0700 0 0.7800"/>
		<site name="s_0_3_8" pos="0 -0.0700 0.7800"/>
		<site name="s_0_4_8" pos="0 0.0700 0.7800"/>
		<body>
		<geom type="capsule" pos="0 0 0.9600" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 0.9000" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 0.9000" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_9" pos="-0.0700 0 0.9000"/>
		<site name="s_0_2_9" pos="0.0700 0 0.9000"/>
		<site name="s_0_3_9" pos="0 -0.0700 0.9000"/>
		<site name="s_0_4_9" pos="0 0.0700 0.9000"/>
		<body>
		<geom type="capsule" pos="0 0 1.0800" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.0200" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.0200" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_10" pos="-0.0700 0 1.0200"/>
		<site name="s_0_2_10" pos="0.0700 0 1.0200"/>
		<site name="s_0_3_10" pos="0 -0.0700 1.0200"/>
		<site name="s_0_4_10" pos="0 0.0700 1.0200"/>
		<body>
		<geom type="capsule" pos="0 0 1.2000" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.1400" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.1400" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_0_1_11" pos="-0.0700 0 1.1400"/>
		<site name="s_0_2_11" pos="0.0700 0 1.1400"/>
		<site name="s_0_3_11" pos="0 -0.0700 1.1400"/>
		<site name="s_0_4_11" pos="0 0.0700 1.1400"/>
		<body>
		<geom type="capsule" pos="0 0 1.3200" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.2600" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.2600" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_12" pos="-0.0700 0 1.2600"/>
		<site name="s_1_2_12" pos="0.0700 0 1.2600"/>
		<site name="s_1_3_12" pos="0 -0.0700 1.2600"/>
		<site name="s_1_4_12" pos="0 0.0700 1.2600"/>
		<body>
		<geom type="capsule" pos="0 0 1.4400" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.3800" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.3800" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_13" pos="-0.0700 0 1.3800"/>
		<site name="s_1_2_13" pos="0.0700 0 1.3800"/>
		<site name="s_1_3_13" pos="0 -0.0700 1.3800"/>
		<site name="s_1_4_13" pos="0 0.0700 1.3800"/>
		<body>
		<geom type="capsule" pos="0 0 1.5600" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.5000" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.5000" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_14" pos="-0.0700 0 1.5000"/>
		<site name="s_1_2_14" pos="0.0700 0 1.5000"/>
		<site name="s_1_3_14" pos="0 -0.0700 1.5000"/>
		<site name="s_1_4_14" pos="0 0.0700 1.5000"/>
		<body>
		<geom type="capsule" pos="0 0 1.6800" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.6200" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.6200" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_15" pos="-0.0700 0 1.6200"/>
		<site name="s_1_2_15" pos="0.0700 0 1.6200"/>
		<site name="s_1_3_15" pos="0 -0.0700 1.6200"/>
		<site name="s_1_4_15" pos="0 0.0700 1.6200"/>
		<body>
		<geom type="capsule" pos="0 0 1.8000" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.7400" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.7400" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_16" pos="-0.0700 0 1.7400"/>
		<site name="s_1_2_16" pos="0.0700 0 1.7400"/>
		<site name="s_1_3_16" pos="0 -0.0700 1.7400"/>
		<site name="s_1_4_16" pos="0 0.0700 1.7400"/>
		<body>
		<geom type="capsule" pos="0 0 1.9200" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.8600" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.8600" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_17" pos="-0.0700 0 1.8600"/>
		<site name="s_1_2_17" pos="0.0700 0 1.8600"/>
		<site name="s_1_3_17" pos="0 -0.0700 1.8600"/>
		<site name="s_1_4_17" pos="0 0.0700 1.8600"/>
		<body>
		<geom type="capsule" pos="0 0 2.0400" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 1.9800" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 1.9800" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_18" pos="-0.0700 0 1.9800"/>
		<site name="s_1_2_18" pos="0.0700 0 1.9800"/>
		<site name="s_1_3_18" pos="0 -0.0700 1.9800"/>
		<site name="s_1_4_18" pos="0 0.0700 1.9800"/>
		<body>
		<geom type="capsule" pos="0 0 2.1600" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 2.1000" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 2.1000" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_19" pos="-0.0700 0 2.1000"/>
		<site name="s_1_2_19" pos="0.0700 0 2.1000"/>
		<site name="s_1_3_19" pos="0 -0.0700 2.1000"/>
		<site name="s_1_4_19" pos="0 0.0700 2.1000"/>
		<body>
		<geom type="capsule" pos="0 0 2.2800" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 2.2200" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 2.2200" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_20" pos="-0.0700 0 2.2200"/>
		<site name="s_1_2_20" pos="0.0700 0 2.2200"/>
		<site name="s_1_3_20" pos="0 -0.0700 2.2200"/>
		<site name="s_1_4_20" pos="0 0.0700 2.2200"/>
		<body>
		<geom type="capsule" pos="0 0 2.4000" size=".01 .015" rgba=".8 .2 .1 1"/>
		<joint type="hinge" pos="0 0 2.3400" axis="1 0 0"  damping="1" stiffness="1.00"/>
		<joint type="hinge" pos="0 0 2.3400" axis="0 1 0"  damping="1" stiffness="1.00"/>
		<site name="s_1_1_21" pos="-0.0700 0 2.3400"/>
		<site name="s_1_2_21" pos="0.0700 0 2.3400"/>
		<site name="s_1_3_21" pos="0 -0.0700 2.3400"/>
		<site name="s_1_4_21" pos="0 0.0700 2.3400"/>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
		</body>
        </body>
        <body>
            <geom type="cylinder" fromto="-0.2000 0.0000 1.0700 -0.2100 0.0000 1.0700" size="0.01"/>
            <joint name="ctrl_1_a" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_1_a" pos="-0.2000 0.0000 1.0700"/>
        </body>
        <body>
            <geom type="cylinder" fromto="-0.5000 0.0000 1.0700 -0.5100 0.0000 1.0700" size="0.01"/>
            <joint name="ctrl_1_b" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_1_b" pos="-0.5000 0.0000 1.0700"/>
        </body>
        

        <body>
            <geom type="cylinder" fromto="-0.2000 -0.0700 1.0000 -0.2100 -0.0700 1.0000" size="0.01"/>
            <joint name="ctrl_2_a" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_2_a" pos="-0.2000 -0.0700 1.0000"/>
        </body>
        <body>
            <geom type="cylinder" fromto="-0.5000 -0.0700 1.0000 -0.5100 -0.0700 1.0000" size="0.01"/>
            <joint name="ctrl_2_b" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_2_b" pos="-0.5000 -0.0700 1.0000"/>
        </body>
        

        <body>
            <geom type="cylinder" fromto="-0.2000 0.0000 0.9300 -0.2100 0.0000 0.9300" size="0.01"/>
            <joint name="ctrl_3_a" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_3_a" pos="-0.2000 0.0000 0.9300"/>
        </body>
        <body>
            <geom type="cylinder" fromto="-0.5000 0.0000 0.9300 -0.5100 0.0000 0.9300" size="0.01"/>
            <joint name="ctrl_3_b" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_3_b" pos="-0.5000 0.0000 0.9300"/>
        </body>
        

        <body>
            <geom type="cylinder" fromto="-0.2000 0.0700 1.0000 -0.2100 0.0700 1.0000" size="0.01"/>
            <joint name="ctrl_4_a" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_4_a" pos="-0.2000 0.0700 1.0000"/>
        </body>
        <body>
            <geom type="cylinder" fromto="-0.5000 0.0700 1.0000 -0.5100 0.0700 1.0000" size="0.01"/>
            <joint name="ctrl_4_b" type="slide" axis="1 0 0" limited="true" range="-.1 .1"/>
            <site name="end_4_b" pos="-0.5000 0.0700 1.0000"/>
        </body>
	<camera name="test_camera"/>

    </worldbody>
    <tendon>
        <spatial width="0.002" limited="true" range="1.399 1.4">
            <site site="end_1_a"/>
		<site site="s_0_1_1"/>
		<site site="s_0_1_2"/>
		<site site="s_0_1_3"/>
		<site site="s_0_1_4"/>
		<site site="s_0_1_5"/>
		<site site="s_0_1_6"/>
		<site site="s_0_1_7"/>
		<site site="s_0_1_8"/>
		<site site="s_0_1_9"/>
		<site site="s_0_1_10"/>
		<site site="s_0_1_11"/>
        </spatial>
        <spatial width="0.002" limited="true" range="1.839 1.84">
            <site site="end_1_b"/>
		<site site="s_0_1_1"/>
		<site site="s_0_2_1"/>
		<site site="s_0_2_2"/>
		<site site="s_0_2_3"/>
		<site site="s_0_2_4"/>
		<site site="s_0_2_5"/>
		<site site="s_0_2_6"/>
		<site site="s_0_2_7"/>
		<site site="s_0_2_8"/>
		<site site="s_0_2_9"/>
		<site site="s_0_2_10"/>
		<site site="s_0_2_11"/>
        </spatial>
        <spatial width="0.002" limited="true" range="1.399 1.4"> 
            <site site="end_2_a"/>
		<site site="s_0_3_1"/>
		<site site="s_0_3_2"/>
		<site site="s_0_3_3"/>
		<site site="s_0_3_4"/>
		<site site="s_0_3_5"/>
		<site site="s_0_3_6"/>
		<site site="s_0_3_7"/>
		<site site="s_0_3_8"/>
		<site site="s_0_3_9"/>
		<site site="s_0_3_10"/>
		<site site="s_0_3_11"/>
        </spatial>
        <spatial width="0.002" limited="true" range="1.839 1.84">
            <site site="end_2_b"/>
		<site site="s_0_3_1"/>
		<site site="s_0_4_1"/>
		<site site="s_0_4_2"/>
		<site site="s_0_4_3"/>
		<site site="s_0_4_4"/>
		<site site="s_0_4_5"/>
		<site site="s_0_4_6"/>
		<site site="s_0_4_7"/>
		<site site="s_0_4_8"/>
		<site site="s_0_4_9"/>
		<site site="s_0_4_10"/>
		<site site="s_0_4_11"/>
        </spatial>
        <spatial width="0.002" limited="true" range="2.739 2.74">
            <site site="end_3_a"/>
		<site site="s_0_2_1"/>
		<site site="s_0_1_1"/>
		<site site="s_0_1_2"/>
		<site site="s_0_1_3"/>
		<site site="s_0_1_4"/>
		<site site="s_0_1_5"/>
		<site site="s_0_1_6"/>
		<site site="s_0_1_7"/>
		<site site="s_0_1_8"/>
		<site site="s_0_1_9"/>
		<site site="s_0_1_10"/>
		<site site="s_0_1_11"/>
		<site site="s_1_1_12"/>
		<site site="s_1_1_13"/>
		<site site="s_1_1_14"/>
		<site site="s_1_1_15"/>
		<site site="s_1_1_16"/>
		<site site="s_1_1_17"/>
		<site site="s_1_1_18"/>
		<site site="s_1_1_19"/>
		<site site="s_1_1_20"/>
		<site site="s_1_1_21"/>
        </spatial>
        <spatial width="0.002" limited="true" range="2.899 2.9">
            <site site="end_3_b"/>
		<site site="s_0_2_1"/>
		<site site="s_0_2_2"/>
		<site site="s_0_2_3"/>
		<site site="s_0_2_4"/>
		<site site="s_0_2_5"/>
		<site site="s_0_2_6"/>
		<site site="s_0_2_7"/>
		<site site="s_0_2_8"/>
		<site site="s_0_2_9"/>
		<site site="s_0_2_10"/>
		<site site="s_0_2_11"/>
		<site site="s_1_2_12"/>
		<site site="s_1_2_13"/>
		<site site="s_1_2_14"/>
		<site site="s_1_2_15"/>
		<site site="s_1_2_16"/>
		<site site="s_1_2_17"/>
		<site site="s_1_2_18"/>
		<site site="s_1_2_19"/>
		<site site="s_1_2_20"/>
		<site site="s_1_2_21"/>
        </spatial>
        <spatial width="0.002" limited="true" range="2.739 2.74"> 
            <site site="end_4_a"/>
		<site site="s_0_4_1"/>
		<site site="s_0_3_1"/>
		<site site="s_0_3_2"/>
		<site site="s_0_3_3"/>
		<site site="s_0_3_4"/>
		<site site="s_0_3_5"/>
		<site site="s_0_3_6"/>
		<site site="s_0_3_7"/>
		<site site="s_0_3_8"/>
		<site site="s_0_3_9"/>
		<site site="s_0_3_10"/>
		<site site="s_0_3_11"/>
		<site site="s_1_3_12"/>
		<site site="s_1_3_13"/>
		<site site="s_1_3_14"/>
		<site site="s_1_3_15"/>
		<site site="s_1_3_16"/>
		<site site="s_1_3_17"/>
		<site site="s_1_3_18"/>
		<site site="s_1_3_19"/>
		<site site="s_1_3_20"/>
		<site site="s_1_3_21"/>
        </spatial>
        <spatial width="0.002" limited="true" range="2.899 2.9">
            <site site="end_4_b"/>
		<site site="s_0_4_1"/>
		<site site="s_0_4_2"/>
		<site site="s_0_4_3"/>
		<site site="s_0_4_4"/>
		<site site="s_0_4_5"/>
		<site site="s_0_4_6"/>
		<site site="s_0_4_7"/>
		<site site="s_0_4_8"/>
		<site site="s_0_4_9"/>
		<site site="s_0_4_10"/>
		<site site="s_0_4_11"/>
		<site site="s_1_4_12"/>
		<site site="s_1_4_13"/>
		<site site="s_1_4_14"/>
		<site site="s_1_4_15"/>
		<site site="s_1_4_16"/>
		<site site="s_1_4_17"/>
		<site site="s_1_4_18"/>
		<site site="s_1_4_19"/>
		<site site="s_1_4_20"/>
		<site site="s_1_4_21"/>
        </spatial>
    </tendon>
    <actuator>
	<!--motor name="ctrl_1" gear="100" joint="ctrl_1" />
	<motor name="ctrl_2" gear="100" joint="ctrl_2" /-->
	<position name="ctrl_1_a" gear="50" joint="ctrl_1_a" />
	<position name="ctrl_1_b" gear="50" joint="ctrl_1_b" />
	<position name="ctrl_2_a" gear="50" joint="ctrl_2_a" />
	<position name="ctrl_2_b" gear="50" joint="ctrl_2_b" />
	<position name="ctrl_3_a" gear="50" joint="ctrl_3_a" />
	<position name="ctrl_3_b" gear="50" joint="ctrl_3_b" />
	<position name="ctrl_4_a" gear="50" joint="ctrl_4_a" />
	<position name="ctrl_4_b" gear="50" joint="ctrl_4_b" />
    </actuator>
</mujoco>
