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fullinertia="0.001533591897 0.001545382187 0.00001299028966 0 0.0001301029493 0"/></body>
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<body name="stem" pos="0.12 0 0.34"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 -0.02 0.0261858601" mass="0.5" fullinertia="0.0002744700656 0.0002878866238 0.0000164165582 0 0 0"/><body name="lever_1" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.001537392121 -0.0129871884 0" mass="0.3" fullinertia="0.000004651483529 0.001762694824 0.001759904737 2.246998818e-7 0 0"/><body name="lever_2" pos="0.12 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.01297753021 -0.03657518301" mass="0.3" fullinertia="0.00003019021805 0.000862431614 0.000834148948 0 0 -6.679269127e-8"/></body>
</body>
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<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_1" body1="rod_1" body2="lever_1" anchor="0.017619 0 0.325216" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_2" body1="rod_2" body2="lever_2" anchor="-0.010261 0 0.271809" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_3" body1="rod_3" body2="lever_2" anchor="-0.02314 0 0.272422" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_1" body2="lever_1"/><exclude body1="rod_2" body2="lever_2"/><exclude body1="rod_3" body2="lever_2"/></contact>
<actuator><velocity name="drive" joint="j_m" kv="1" forcerange="-20 20"/></actuator>
</mujoco>
