Royal Escape

A Queen (78kg), the Prince (36kg) and the King (42kg) are stuck at the top of a tower. A pulley is fixed to the top of the tower. Over the pulley is a rope with a basket on each end. One basket has a 30kg stone in it. The baskets are enough for 2 people or 1 person and the stone. For safety's sake there can't be more than a 6kg difference between the weights of the baskets if someone's inside. How do the people all escape?

Answer:

Basket 1 Basket 2

Stone up Prince down
King down Prince up
nothing up Stone down
Queen down Stone and King up
nothing up Stone down
Prince down Stone up
nothing up Stone down
King down Prince up
Stone up Prince down