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<body name="crossed_l109" pos="0.01029891873 0 0" quat="0.9999999511 0 0 0.0003126755918"><joint name="crossed_l109_s" type="slide" axis="0.9999998045 -0.0006253511531 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="crossed_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="crossed_l109_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.005149650728 0 0" mass="0.0004909407715" diaginertia="3.927526172e-9 6.303499922e-9 6.303499922e-9"/><geom name="crossed_l109_c" type="capsule" fromto="0 0 0 0.01029930146 0 0" size="0.004" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="open_pin0" body1="open_l014" body2="open_l015" anchor="0.009860779839 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin1" body1="open_l029" body2="open_l030" anchor="0.009860775981 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin2" body1="open_l044" body2="open_l045" anchor="0.009864480985 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin3" body1="open_l059" body2="open_l060" anchor="0.009864480985 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin4" body1="open_l074" body2="open_l075" anchor="0.009850767346 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin5" body1="open_l089" body2="open_l090" anchor="0.009864480985 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin6" body1="open_l104" body2="open_l105" anchor="0.009864480985 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="open_pin7" body1="open_l119" body2="open_l000" anchor="0.009860785711 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin0" body1="crossed_l013" body2="crossed_l014" anchor="0.01026545222 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin1" body1="crossed_l027" body2="crossed_l028" anchor="0.01029150821 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin2" body1="crossed_l040" body2="crossed_l041" anchor="0.01028480918 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin3" body1="crossed_l054" body2="crossed_l055" anchor="0.01027270651 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin4" body1="crossed_l068" body2="crossed_l069" anchor="0.01027270655 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin5" body1="crossed_l082" body2="crossed_l083" anchor="0.01029751361 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin6" body1="crossed_l095" body2="crossed_l096" anchor="0.01028110282 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="crossed_pin7" body1="crossed_l109" body2="crossed_l000" anchor="0.01029930146 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="open_l014" body2="open_l015"/><exclude body1="open_l029" body2="open_l030"/><exclude body1="open_l044" body2="open_l045"/><exclude body1="open_l059" body2="open_l060"/><exclude body1="open_l074" body2="open_l075"/><exclude body1="open_l089" body2="open_l090"/><exclude body1="open_l104" body2="open_l105"/><exclude body1="open_l119" body2="open_l000"/><exclude body1="crossed_l013" body2="crossed_l014"/><exclude body1="crossed_l027" body2="crossed_l028"/><exclude body1="crossed_l040" body2="crossed_l041"/><exclude body1="crossed_l054" body2="crossed_l055"/><exclude body1="crossed_l068" body2="crossed_l069"/><exclude body1="crossed_l082" body2="crossed_l083"/><exclude body1="crossed_l095" body2="crossed_l096"/><exclude body1="crossed_l109" body2="crossed_l000"/></contact>
<actuator><velocity name="drive" joint="j_top" kv="2" forcerange="-6 6"/></actuator>
</mujoco>
