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conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h46" type="mesh" mesh="worm_h46" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h47" type="mesh" mesh="worm_h47" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h48" type="mesh" mesh="worm_h48" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h49" type="mesh" mesh="worm_h49" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="worm_h50" type="mesh" mesh="worm_h50" contype="8" conaffinity="16" condim="3" 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type="mesh" mesh="worm_h71" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<body name="cam" pos="0 0 0"><joint name="j_cam" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.00009420212563 -0.04470849022 -0.008208992335" mass="0.3144541852" fullinertia="0.0001362672657 0.00008094330932 0.0001278754677 -0.000001045414019 9.545631699e-8 0.00001624132433"/><geom name="cam_h0" type="capsule" fromto="0 -0.041 -0.012 0 -0.029 -0.012" size="0.026" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h1" type="mesh" mesh="cam_h1" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h2" type="mesh" mesh="cam_h2" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h3" type="mesh" mesh="cam_h3" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h4" type="mesh" mesh="cam_h4" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h5" type="mesh" mesh="cam_h5" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h6" type="mesh" mesh="cam_h6" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h7" type="mesh" mesh="cam_h7" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h8" type="mesh" mesh="cam_h8" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h9" type="mesh" mesh="cam_h9" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h10" type="mesh" mesh="cam_h10" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h11" type="mesh" mesh="cam_h11" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="cam_h12" type="mesh" mesh="cam_h12" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="-0.09 -0.035 0.02"><joint name="j_lever" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0" range="-0.5 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="6" springref="0.3"/><inertial pos="0.06477116705 0 0" mass="0.3" fullinertia="0.000008543220824 0.0002660584182 0.0002711989217 0 0 0"/><geom name="lever_h0" type="capsule" fromto="0.09 -0.012 0 0.09 0.012 0" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_worm" kv="2" forcerange="-3 3"/></actuator>
</mujoco>
