<mujoco model="60-two-speeds-by-belts">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="upper" pos="0 0 0.3" quat="1 0 0 0"><joint name="j_upper" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.02090202625 0" mass="2.511718212" fullinertia="0.01568709049 0.003335810928 0.01568709049 0 0 0"/><body name="drum_L_w" pos="0 -0.075 0" quat="1 0 0 0"><geom name="drum_L_w_rimG0" condim="3" type="capsule" fromto="0 -0.029 0 0 -0.001 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_L_w_flangeLG0" type="cylinder" fromto="0 -0.029 0 0 -0.0332 0" size="0.073" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_L_w_flangeRG0" type="cylinder" fromto="0 -0.001 0 0 -0.0052 0" size="0.073" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_L_w_rimG1" condim="3" type="capsule" fromto="0 0.001 0 0 0.029 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_L_w_flangeLG1" type="cylinder" fromto="0 0.001 0 0 0.0052 0" size="0.073" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_L_w_flangeRG1" type="cylinder" fromto="0 0.029 0 0 0.0332 0" size="0.073" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<body name="drum_R_w" pos="0 0.075 0" quat="1 0 0 0"><geom name="drum_R_w_rimG0" condim="3" type="capsule" fromto="0 -0.029 0 0 -0.001 0" size="0.035" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_R_w_flangeLG0" type="cylinder" fromto="0 -0.029 0 0 -0.0332 0" size="0.038" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_R_w_flangeRG0" type="cylinder" fromto="0 -0.001 0 0 -0.0052 0" size="0.038" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_R_w_rimG1" condim="3" type="capsule" fromto="0 0.001 0 0 0.029 0" size="0.035" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_R_w_flangeLG1" type="cylinder" fromto="0 0.001 0 0 0.0052 0" size="0.038" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="drum_R_w_flangeRG1" type="cylinder" fromto="0 0.029 0 0 0.0332 0" size="0.038" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<geom name="sh_upper" type="capsule" fromto="0 -0.12 0 0 0.12 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="lower" pos="0 0 0" quat="1 0 0 0"><joint name="j_lower" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.811718212" fullinertia="0.007877813535 0.001603810928 0.007877813535 0 0 0"/><body name="p_fast_L_w" pos="0 -0.06 0" quat="1 0 0 0"><geom name="p_fast_L_w_rim" condim="3" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_fast_L_w_flangeL" type="cylinder" fromto="0 -0.013 0 0 -0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_fast_L_w_flangeR" type="cylinder" fromto="0 0.013 0 0 0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_fast_R_w" pos="0 0.06 0" quat="1 0 0 0"><geom name="p_fast_R_w_rim" condim="3" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_fast_R_w_flangeL" type="cylinder" fromto="0 -0.013 0 0 -0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_fast_R_w_flangeR" type="cylinder" fromto="0 0.013 0 0 0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<geom name="sh_lower" type="capsule" fromto="0 -0.12 0 0 0.12 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="p_loose_L" pos="0 -0.09 0"><joint name="j_loose_L" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.0005450666667 0.0008 0.0005450666667"/><geom name="p_loose_L_rim" condim="3" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_loose_L_flangeL" type="cylinder" fromto="0 -0.013 0 0 -0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_loose_L_flangeR" type="cylinder" fromto="0 0.013 0 0 0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_loose_R" pos="0 0.09 0"><joint name="j_loose_R" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.0005450666667 0.0008 0.0005450666667"/><geom name="p_loose_R_rim" condim="3" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_loose_R_flangeL" type="cylinder" fromto="0 -0.013 0 0 -0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/><geom name="p_loose_R_flangeR" type="cylinder" fromto="0 0.013 0 0 0.0169 0" size="0.053" contype="1" conaffinity="2" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/></body>
<body name="left_l000" pos="-0.072 -0.09 0.3" quat="0.7267530691 0 0.686898811 0">
<freejoint name="left_root0"/><inertial pos="0.007739971077 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.055960224e-7 5.144381073e-7"/><geom name="left_l000_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l001" pos="0.01547994215 0 0" quat="0.9999866195 0 -0.005173093357 0"><joint name="left_l001_s" type="slide" axis="0.9999464782 0 -0.01034604828" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l001_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l002" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l002_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l002_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l003" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l003_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l003_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l004" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l004_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l004_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l005" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l005_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l005_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l006" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l006_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l006_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l007" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l007_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l007_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="left_l008" pos="-0.06390261346 -0.09 0.1764070343" quat="0.7302967364 0 0.6831300585 0">
<freejoint name="left_root1"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l008_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l009" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l009_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l009_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l010" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l010_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l010_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l011" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l011_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l011_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l012" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l012_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l012_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l013" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l013_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l013_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l014" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l014_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l014_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l015" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l015_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l015_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="left_l016" pos="-0.05564518961 -0.09 0.0528211928" quat="0.7302967364 0 0.6831300585 0">
<freejoint name="left_root2"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l016_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="left_l017" pos="0.01548267442 0 0" quat="1 0 0 0"><joint name="left_l017_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="left_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007741337211 0 0" mass="0.009651315153" diaginertia="3.345789253e-7 2.056640627e-7 5.145061476e-7"/><geom name="left_l017_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="left_l056" pos="0.01072404573 -0.09 0.3711968063" quat="-0.02098953779 0 0.9997796954 0">
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<body name="right_l000" pos="-0.052 0.06 0" quat="0.752290563 0 0.6588314723 0">
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<body name="right_l008" pos="0.02697704958 0.06 -0.04445485899" quat="0.9431381592 0 -0.3324009817 0">
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<body name="right_l043" pos="0.01375548928 0 0" quat="0.999999997 0 -0.00007715411009 0"><joint name="right_l043_s" type="slide" axis="0.9999999881 0 -0.0001543082197" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l043_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l044" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l044_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l044_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l045" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l045_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l045_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l046" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l046_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l046_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l047" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l047_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l047_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="right_l048" pos="-0.04106059821 0.06 0.2198148349" quat="0.6892024455 0 0.7245688298 0">
<freejoint name="right_root6"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l048_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l049" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l049_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l049_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l050" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l050_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l050_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l050_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l051" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l051_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l051_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l052" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l052_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l052_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l052_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l053" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l053_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l053_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l054" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l054_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l054_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l054_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l055" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l055_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l055_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l055_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="right_l056" pos="-0.04656279451 0.06 0.1099085018" quat="0.6892024455 0 0.7245688298 0">
<freejoint name="right_root7"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l056_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l057" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l057_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l057_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l057_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l058" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l058_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l058_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l059" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l059_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l059_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l060" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l060_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l060_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l060_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l061" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l061_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l061_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l061_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l062" pos="0.01375549675 0 0" quat="1 0 0 0"><joint name="right_l062_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l062_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877748377 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.466004406e-7 4.209221436e-7"/><geom name="right_l062_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="right_l063" pos="0.01375549675 0 0" quat="0.9999972069 0 -0.002363511217 0"><joint name="right_l063_s" type="slide" axis="0.9999888276 0 -0.004727009231" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="right_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006877283441 0 0" mass="0.008572553218" diaginertia="2.971818449e-7 1.465821661e-7 4.209038691e-7"/><geom name="right_l063_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</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="left_pin0" body1="left_l007" body2="left_l008" anchor="0.01548267442 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin1" body1="left_l015" body2="left_l016" anchor="0.01548267442 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin2" body1="left_l023" body2="left_l024" anchor="0.01542553568 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin3" body1="left_l031" body2="left_l032" anchor="0.01548267442 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin4" body1="left_l039" body2="left_l040" anchor="0.01548267442 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin5" body1="left_l047" body2="left_l048" anchor="0.01548267442 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin6" body1="left_l055" body2="left_l056" anchor="0.01545285461 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="left_pin7" body1="left_l063" body2="left_l000" anchor="0.01545286408 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin0" body1="right_l007" body2="right_l008" anchor="0.01371541763 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin1" body1="right_l015" body2="right_l016" anchor="0.01375549675 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin2" body1="right_l023" body2="right_l024" anchor="0.01375549675 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin3" body1="right_l031" body2="right_l032" anchor="0.01375549675 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin4" body1="right_l039" body2="right_l040" anchor="0.01367641168 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin5" body1="right_l047" body2="right_l048" anchor="0.01375549675 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin6" body1="right_l055" body2="right_l056" anchor="0.01375549675 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="right_pin7" body1="right_l063" body2="right_l000" anchor="0.01375456688 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/></equality>

<actuator><velocity name="drive" joint="j_upper" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
