engagedistance 150
engageheight 300
dojo 1

#rope set 1

env_obj 1
    shape box
    pos 0.8125 -0.0625 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

env_obj 2
    shape box
    pos 1.1875 -0.0625 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

env_obj 3
    shape box
    pos 1.1875 -3.0625 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

env_obj 4
    shape box
    pos 0.8125 -3.0625 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

env_obj 5
    shape box
    pos 0.8125 2.9375 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

env_obj 6
    shape box
    pos 1.1875 2.9375 2.9375
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 0.125 3 0.125
    material steel
    mass 0.1
    flag 16

#rope set 2

env_obj 7
    shape box
    pos 1.0625 -0.3125 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

env_obj 8
    shape box
    pos 1.0625 0.1875 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

env_obj 9
    shape box
    pos 4.0625 0.1875 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

env_obj 10
    shape box
    pos -1.9375 0.1875 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

env_obj 11
    shape box
    pos -1.9375 -0.3125 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

env_obj 12
    shape box
    pos 4.0625 -0.3125 2.6875
    color 0.6 -0.1 -0.1 1
    rot 0 0 0
    sides 3 0.125 0.125
    material steel
    mass 0.1
    flag 16

# rope hubs

#lower hubs

env_obj 13
    shape box
    pos 6.125 -0 2.6875
    color 1 1 1 1
    rot 0 0 0
    sides 1 2 1
    material steel
    mass 0.1
    flag 24

env_obj 14
    shape box
    pos -3.875 -0 2.6875
    color 1 1 1 1
    rot 0 0 0
    sides 1 2 1
    material steel
    mass 0.1
    flag 24

#upper hubs

env_obj 15
    shape box
    pos 1 4.875 2.6875
    color 1 1 1 1
    rot 0 0 0
    sides 2 1 1
    material steel
    mass 0.1
    flag 24

env_obj 16
    shape box
    pos 1 -5.125 2.6875
    color 1 1 1 1
    rot 0 0 0
    sides 2 1 1
    material steel
    mass 0.1
    flag 24

# rope joints

env_obj_joint 16 16 3
    pos 1.1875 -4.625 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 3 3 2
    pos 1.1875 -1.5625 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 2 2 6
    pos 1.1875 1.375 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 6 6 15
    pos 1.1875 4.375 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 15 15 5
    pos 0.8125 4.375 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 5 5 1
    pos 0.8125 1.4375 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 1 1 4
    pos 0.8125 -1.5625 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 4 4 16
    pos 0.8125 -4.5625 2.9375
axis 1 0 0
range 5 -5

env_obj_joint 13 13 9
    pos 5.625 0.1875 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 9 9 8
    pos 2.5625 0.1875 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 8 8 10
    pos -0.4375 0.1875 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 10 10 14
    pos -3.375 0.1875 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 14 14 11
    pos -3.375 0.1875 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 11 11 7
    pos -0.4375 -0.3125 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 7 7 12
    pos 2.5625 -0.3125 2.6875
axis 1 0 0
range 5 -5

env_obj_joint 12 12 13
    pos 5.625 -0.3125 2.6875
axis 1 0 0
range 5 -5