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<mujoco model="test">
<compiler coordinate="global"/>
<default>
<geom rgba=".9 .7 .1 1" size="0.01"/>
<site type="sphere" rgba=".9 .9 .9 1" size="0.005"/>
<joint type="hinge" axis="0 1 0" limited="true" range="0 60" solimplimit="0.95 0.95 0.1"/>
</default>
<visual>
<headlight diffuse=".7 .7 .7"/>
</visual>
<worldbody>
<body>
<geom type="cylinder" fromto="-0.03 0 0.2 -0.03 0 0.15"
size="0.03" rgba=".2 .2 .5 1" density="5000"/>
<joint type="slide" pos="-0.03 0 0.2" axis="0 0 1" limited="false"/>
<site name="s1" pos="-0.03 0 0.2"/>
</body>
<site name="s2" pos="-0.03 0 0.32"/>
<body>
<geom type="capsule" fromto="0 0 0.3 0.1 0 0.3"/>
<geom name="g1" type="cylinder" fromto="0.0 0.015 0.3 0.0 -0.015 0.3"
size="0.02" rgba=".3 .9 .3 .4"/>
<joint pos="0 0 0.3"/>
<site name="s3" pos="0.02 0 0.32"/>
<body>
<geom type="capsule" fromto="0.1 0 0.3 0.2 0 0.3"/>
<geom name="g2" type="cylinder" fromto="0.1 0.015 0.3 0.1 -0.015 0.3"
size="0.02" rgba=".3 .9 .3 .4"/>
<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 type="capsule" fromto="0.2 0 0.3 0.27 0 0.3"/>
<geom name="g3" type="cylinder" fromto="0.2 0.015 0.3 0.2 -0.015 0.3"
size="0.02" rgba=".3 .9 .3 .4"/>
<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 width="0.002" rgba=".95 .3 .3 1" limited="true" range="0 0.33">
<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>
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