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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_h15" type="mesh" mesh="worm_h15" 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_h16" type="mesh" mesh="worm_h16" 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_h17" type="mesh" mesh="worm_h17" 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_h18" type="mesh" mesh="worm_h18" 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_h19" type="mesh" mesh="worm_h19" 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_h20" type="mesh" mesh="worm_h20" 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_h21" type="mesh" mesh="worm_h21" 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_h22" type="mesh" mesh="worm_h22" 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_h23" type="mesh" mesh="worm_h23" 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_h24" type="mesh" mesh="worm_h24" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" 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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>
<body name="base" 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_f" body1="conrod" body2="base" anchor="0.36 0 -0.045" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="base"/></contact>
<actuator><velocity name="drive" joint="j_wo" kv="2" forcerange="-1 1"/></actuator>
</mujoco>
