<mujoco model="146-disk-crank-pin-yoke-groove">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="yoke_h0" vertex="-0.014903 -0.012 -0.022957 -0.014903 -0.001 -0.022957 -0.014901 -0.012 -0.025248 -0.014901 -0.001 -0.025248 -0.014839 -0.012 -0.027384 -0.014839 -0.001 -0.027384 -0.014715 -0.012 -0.029445 -0.014715 -0.001 -0.029445 -0.014527 -0.012 -0.031431 -0.014527 -0.001 -0.031431 -0.014277 -0.012 -0.033338 -0.014277 -0.001 -0.033338 -0.013964 -0.012 -0.035165 -0.013964 -0.001 -0.035165 -0.013591 -0.012 -0.036909 -0.013591 -0.001 -0.036909 -0.013161 -0.012 -0.038568 -0.013161 -0.001 -0.038568 -0.012676 -0.012 -0.040138 -0.012676 -0.001 -0.040138 -0.012141 -0.012 -0.041617 -0.012141 -0.001 -0.041617 -0.011559 -0.012 -0.043004 -0.011559 -0.001 -0.043004 -0.010936 -0.012 -0.044296 -0.010936 -0.001 -0.044296 -0.010276 -0.012 -0.045492 -0.010276 -0.001 -0.045492 -0.009585 -0.012 -0.046591 -0.009585 -0.001 -0.046591 -0.008869 -0.012 -0.047593 -0.008869 -0.001 -0.047593 -0.008134 -0.012 -0.048498 -0.008134 -0.001 -0.048498 -0.007384 -0.012 -0.049306 -0.007384 -0.001 -0.049306 -0.006627 -0.012 -0.050021 -0.006627 -0.001 -0.050021 -0.005866 -0.012 -0.050644 -0.005866 -0.001 -0.050644 -0.005106 -0.012 -0.051178 -0.005106 -0.001 -0.051178 -0.004352 -0.012 -0.051628 -0.004352 -0.001 -0.051628 -0.003605 -0.012 -0.051997 -0.003605 -0.001 -0.051997 -0.002868 -0.012 -0.052291 -0.002868 -0.001 -0.052291 -0.002141 -0.012 -0.052515 -0.002141 -0.001 -0.052515 -0.001422 -0.012 -0.052671 -0.001422 -0.001 -0.052671 -0.000709 -0.012 -0.052763 -0.000709 -0.001 -0.052763 0 -0.012 -0.052793 0 -0.001 -0.052793 0.000709 -0.012 -0.052763 0.000709 -0.001 -0.052763 0.001422 -0.012 -0.052671 0.001422 -0.001 -0.052671 0.002141 -0.012 -0.052515 0.002141 -0.001 -0.052515 0.002868 -0.012 -0.052291 0.002868 -0.001 -0.052291 0.003605 -0.012 -0.051997 0.003605 -0.001 -0.051997 0.004352 -0.012 -0.051628 0.004352 -0.001 -0.051628 0.005106 -0.012 -0.051178 0.005106 -0.001 -0.051178 0.005866 -0.012 -0.050644 0.005866 -0.001 -0.050644 0.006627 -0.012 -0.050021 0.006627 -0.001 -0.050021 0.007384 -0.012 -0.049306 0.007384 -0.001 -0.049306 0.008134 -0.012 -0.048498 0.008134 -0.001 -0.048498 0.008869 -0.012 -0.047593 0.008869 -0.001 -0.047593 0.009585 -0.012 -0.046591 0.009585 -0.001 -0.046591 0.010276 -0.012 -0.045492 0.010276 -0.001 -0.045492 0.010936 -0.012 -0.044296 0.010936 -0.001 -0.044296 0.011559 -0.012 -0.043004 0.011559 -0.001 -0.043004 0.012141 -0.012 -0.041617 0.012141 -0.001 -0.041617 0.012676 -0.012 -0.040138 0.012676 -0.001 -0.040138 0.013161 -0.012 -0.038568 0.013161 -0.001 -0.038568 0.013591 -0.012 -0.036909 0.013591 -0.001 -0.036909 0.013964 -0.012 -0.035165 0.013964 -0.001 -0.035165 0.014277 -0.012 -0.033338 0.014277 -0.001 -0.033338 0.014527 -0.012 -0.031431 0.014527 -0.001 -0.031431 0.014715 -0.012 -0.029445 0.014715 -0.001 -0.029445 0.014839 -0.012 -0.027384 0.014839 -0.001 -0.027384 0.014901 -0.012 -0.025248 0.014901 -0.001 -0.025248 0.014904 -0.012 -0.022957 0.014904 -0.001 -0.022957 0.014904 -0.012 0.022957 0.014904 -0.001 0.022957 0.014901 -0.012 0.025248 0.014901 -0.001 0.025248 0.014839 -0.012 0.027384 0.014839 -0.001 0.027384 0.014715 -0.012 0.029445 0.014715 -0.001 0.029445 0.014527 -0.012 0.031431 0.014527 -0.001 0.031431 0.014277 -0.012 0.033338 0.014277 -0.001 0.033338 0.013964 -0.012 0.035165 0.013964 -0.001 0.035165 0.013591 -0.012 0.036909 0.013591 -0.001 0.036909 0.013161 -0.012 0.038568 0.013161 -0.001 0.038568 0.012676 -0.012 0.040138 0.012676 -0.001 0.040138 0.012141 -0.012 0.041617 0.012141 -0.001 0.041617 0.011559 -0.012 0.043004 0.011559 -0.001 0.043004 0.010936 -0.012 0.044296 0.010936 -0.001 0.044296 0.010276 -0.012 0.045492 0.010276 -0.001 0.045492 0.009585 -0.012 0.046591 0.009585 -0.001 0.046591 0.008869 -0.012 0.047593 0.008869 -0.001 0.047593 0.008134 -0.012 0.048498 0.008134 -0.001 0.048498 0.007384 -0.012 0.049306 0.007384 -0.001 0.049306 0.006627 -0.012 0.050021 0.006627 -0.001 0.050021 0.005866 -0.012 0.050644 0.005866 -0.001 0.050644 0.005106 -0.012 0.051178 0.005106 -0.001 0.051178 0.004352 -0.012 0.051628 0.004352 -0.001 0.051628 0.003605 -0.012 0.051997 0.003605 -0.001 0.051997 0.002868 -0.012 0.052291 0.002868 -0.001 0.052291 0.002141 -0.012 0.052515 0.002141 -0.001 0.052515 0.001422 -0.012 0.052671 0.001422 -0.001 0.052671 0.000709 -0.012 0.052763 0.000709 -0.001 0.052763 0 -0.012 0.052793 0 -0.001 0.052793 -0.000709 -0.012 0.052763 -0.000709 -0.001 0.052763 -0.001422 -0.012 0.052671 -0.001422 -0.001 0.052671 -0.002141 -0.012 0.052515 -0.002141 -0.001 0.052515 -0.002868 -0.012 0.052291 -0.002868 -0.001 0.052291 -0.003605 -0.012 0.051997 -0.003605 -0.001 0.051997 -0.004352 -0.012 0.051628 -0.004352 -0.001 0.051628 -0.005106 -0.012 0.051178 -0.005106 -0.001 0.051178 -0.005866 -0.012 0.050644 -0.005866 -0.001 0.050644 -0.006627 -0.012 0.050021 -0.006627 -0.001 0.050021 -0.007384 -0.012 0.049306 -0.007384 -0.001 0.049306 -0.008134 -0.012 0.048498 -0.008134 -0.001 0.048498 -0.008869 -0.012 0.047593 -0.008869 -0.001 0.047593 -0.009585 -0.012 0.046591 -0.009585 -0.001 0.046591 -0.010276 -0.012 0.045492 -0.010276 -0.001 0.045492 -0.010936 -0.012 0.044296 -0.010936 -0.001 0.044296 -0.011559 -0.012 0.043004 -0.011559 -0.001 0.043004 -0.012141 -0.012 0.041617 -0.012141 -0.001 0.041617 -0.012676 -0.012 0.040138 -0.012676 -0.001 0.040138 -0.013161 -0.012 0.038568 -0.013161 -0.001 0.038568 -0.013591 -0.012 0.036909 -0.013591 -0.001 0.036909 -0.013964 -0.012 0.035165 -0.013964 -0.001 0.035165 -0.014277 -0.012 0.033338 -0.014277 -0.001 0.033338 -0.014527 -0.012 0.031431 -0.014527 -0.001 0.031431 -0.014715 -0.012 0.029445 -0.014715 -0.001 0.029445 -0.014839 -0.012 0.027384 -0.014839 -0.001 0.027384 -0.014901 -0.012 0.025248 -0.014901 -0.001 0.025248 -0.014903 -0.012 0.022957 -0.014903 -0.001 0.022957"/><mesh name="yoke_h1" vertex="-0.029303 -0.012 -0.022961 -0.029303 -0.001 -0.022961 -0.029301 -0.012 -0.025357 -0.029301 -0.001 -0.025357 -0.044299 -0.012 -0.025583 -0.044299 -0.001 -0.025583 -0.044303 -0.012 -0.022969 -0.044303 -0.001 -0.022969"/><mesh name="yoke_h2" vertex="-0.029301 -0.012 -0.025357 -0.029301 -0.001 -0.025357 -0.029233 -0.012 -0.027705 -0.029233 -0.001 -0.027705 -0.044218 -0.012 -0.028374 -0.044218 -0.001 -0.028374 -0.044299 -0.012 -0.025583 -0.044299 -0.001 -0.025583"/><mesh name="yoke_h3" vertex="-0.029233 -0.012 -0.027705 -0.029233 -0.001 -0.027705 -0.029094 -0.012 -0.03 -0.029094 -0.001 -0.03 -0.04405 -0.012 -0.031156 -0.04405 -0.001 -0.031156 -0.044218 -0.012 -0.028374 -0.044218 -0.001 -0.028374"/><mesh name="yoke_h4" vertex="-0.029094 -0.012 -0.03 -0.029094 -0.001 -0.03 -0.028883 -0.012 -0.032238 -0.028883 -0.001 -0.032238 -0.043789 -0.012 -0.03392 -0.043789 -0.001 -0.03392 -0.04405 -0.012 -0.031156 -0.04405 -0.001 -0.031156"/><mesh name="yoke_h5" vertex="-0.028883 -0.012 -0.032238 -0.028883 -0.001 -0.032238 -0.028597 -0.012 -0.034415 -0.028597 -0.001 -0.034415 -0.043469 -0.012 -0.03637 -0.043469 -0.001 -0.03637 -0.043789 -0.012 -0.03392 -0.043789 -0.001 -0.03392"/><mesh name="yoke_h6" vertex="-0.028597 -0.012 -0.034415 -0.028597 -0.001 -0.034415 -0.028352 -0.012 -0.036278 -0.028352 -0.001 -0.036278 -0.043183 -0.012 -0.038522 -0.043183 -0.001 -0.038522 -0.043469 -0.012 -0.03637 -0.043469 -0.001 -0.03637"/><mesh name="yoke_h7" vertex="-0.028352 -0.012 -0.036278 -0.028352 -0.001 -0.036278 -0.027991 -0.012 -0.038389 -0.027991 -0.001 -0.038389 -0.042721 -0.012 -0.041223 -0.042721 -0.001 -0.041223 -0.043183 -0.012 -0.038522 -0.043183 -0.001 -0.038522"/><mesh name="yoke_h8" vertex="-0.027991 -0.012 -0.038389 -0.027991 -0.001 -0.038389 -0.027554 -0.012 -0.040431 -0.027554 -0.001 -0.040431 -0.042151 -0.012 -0.043884 -0.042151 -0.001 -0.043884 -0.042721 -0.012 -0.041223 -0.042721 -0.001 -0.041223"/><mesh name="yoke_h9" vertex="-0.027554 -0.012 -0.040431 -0.027554 -0.001 -0.040431 -0.027043 -0.012 -0.042399 -0.027043 -0.001 -0.042399 -0.041473 -0.012 -0.046497 -0.041473 -0.001 -0.046497 -0.042151 -0.012 -0.043884 -0.042151 -0.001 -0.043884"/><mesh name="yoke_h10" vertex="-0.027043 -0.012 -0.042399 -0.027043 -0.001 -0.042399 -0.026459 -0.012 -0.04429 -0.026459 -0.001 -0.04429 -0.040682 -0.012 -0.049056 -0.040682 -0.001 -0.049056 -0.041473 -0.012 -0.046497 -0.041473 -0.001 -0.046497"/><mesh name="yoke_h11" vertex="-0.026459 -0.012 -0.04429 -0.026459 -0.001 -0.04429 -0.025804 -0.012 -0.0461 -0.025804 -0.001 -0.0461 -0.039789 -0.012 -0.051524 -0.039789 -0.001 -0.051524 -0.040682 -0.012 -0.049056 -0.040682 -0.001 -0.049056"/><mesh name="yoke_h12" vertex="-0.025804 -0.012 -0.0461 -0.025804 -0.001 -0.0461 -0.025085 -0.012 -0.047837 -0.025085 -0.001 -0.047837 -0.03893 -0.012 -0.053608 -0.03893 -0.001 -0.053608 -0.039789 -0.012 -0.051524 -0.039789 -0.001 -0.051524"/><mesh name="yoke_h13" vertex="-0.025085 -0.012 -0.047837 -0.025085 -0.001 -0.047837 -0.024361 -0.012 -0.049563 -0.024361 -0.001 -0.049563 -0.038037 -0.012 -0.055724 -0.038037 -0.001 -0.055724 -0.03893 -0.012 -0.053608 -0.03893 -0.001 -0.053608"/><mesh name="yoke_h14" vertex="-0.024361 -0.012 -0.049563 -0.024361 -0.001 -0.049563 -0.023571 -0.012 -0.051201 -0.023571 -0.001 -0.051201 -0.036898 -0.012 -0.058084 -0.036898 -0.001 -0.058084 -0.038037 -0.012 -0.055724 -0.038037 -0.001 -0.055724"/><mesh name="yoke_h15" vertex="-0.023571 -0.012 -0.051201 -0.023571 -0.001 -0.051201 -0.022717 -0.012 -0.052749 -0.022717 -0.001 -0.052749 -0.03564 -0.012 -0.060365 -0.03564 -0.001 -0.060365 -0.036898 -0.012 -0.058084 -0.036898 -0.001 -0.058084"/><mesh name="yoke_h16" vertex="-0.022717 -0.012 -0.052749 -0.022717 -0.001 -0.052749 -0.021803 -0.012 -0.054203 -0.021803 -0.001 -0.054203 -0.034261 -0.012 -0.062559 -0.034261 -0.001 -0.062559 -0.03564 -0.012 -0.060365 -0.03564 -0.001 -0.060365"/><mesh name="yoke_h17" vertex="-0.021803 -0.012 -0.054203 -0.021803 -0.001 -0.054203 -0.020832 -0.012 -0.055562 -0.020832 -0.001 -0.055562 -0.032886 -0.012 -0.06449 -0.032886 -0.001 -0.06449 -0.034261 -0.012 -0.062559 -0.034261 -0.001 -0.062559"/><mesh name="yoke_h18" vertex="-0.020832 -0.012 -0.055562 -0.020832 -0.001 -0.055562 -0.019688 -0.012 -0.057053 -0.019688 -0.001 -0.057053 -0.031459 -0.012 -0.066351 -0.031459 -0.001 -0.066351 -0.032886 -0.012 -0.06449 -0.032886 -0.001 -0.06449"/><mesh name="yoke_h19" vertex="-0.019688 -0.012 -0.057053 -0.019688 -0.001 -0.057053 -0.018664 -0.012 -0.058312 -0.018664 -0.001 -0.058312 -0.029991 -0.012 -0.068146 -0.029991 -0.001 -0.068146 -0.031459 -0.012 -0.066351 -0.031459 -0.001 -0.066351"/><mesh name="yoke_h20" vertex="-0.018664 -0.012 -0.058312 -0.018664 -0.001 -0.058312 -0.017592 -0.012 -0.05947 -0.017592 -0.001 -0.05947 -0.028244 -0.012 -0.07003 -0.028244 -0.001 -0.07003 -0.029991 -0.012 -0.068146 -0.029991 -0.001 -0.068146"/><mesh name="yoke_h21" vertex="-0.017592 -0.012 -0.05947 -0.017592 -0.001 -0.05947 -0.016473 -0.012 -0.060524 -0.016473 -0.001 -0.060524 -0.026375 -0.012 -0.071792 -0.026375 -0.001 -0.071792 -0.028244 -0.012 -0.07003 -0.028244 -0.001 -0.07003"/><mesh name="yoke_h22" vertex="-0.016473 -0.012 -0.060524 -0.016473 -0.001 -0.060524 -0.015314 -0.012 -0.061473 -0.015314 -0.001 -0.061473 -0.024631 -0.012 -0.073228 -0.024631 -0.001 -0.073228 -0.026375 -0.012 -0.071792 -0.026375 -0.001 -0.071792"/><mesh name="yoke_h23" vertex="-0.015314 -0.012 -0.061473 -0.015314 -0.001 -0.061473 -0.013823 -0.012 -0.062617 -0.013823 -0.001 -0.062617 -0.022706 -0.012 -0.074704 -0.022706 -0.001 -0.074704 -0.024631 -0.012 -0.073228 -0.024631 -0.001 -0.073228"/><mesh name="yoke_h24" vertex="-0.013823 -0.012 -0.062617 -0.013823 -0.001 -0.062617 -0.012627 -0.012 -0.063458 -0.012627 -0.001 -0.063458 -0.020789 -0.012 -0.076043 -0.020789 -0.001 -0.076043 -0.022706 -0.012 -0.074704 -0.022706 -0.001 -0.074704"/><mesh name="yoke_h25" vertex="-0.012627 -0.012 -0.063458 -0.012627 -0.001 -0.063458 -0.011398 -0.012 -0.064191 -0.011398 -0.001 -0.064191 -0.018573 -0.012 -0.077364 -0.018573 -0.001 -0.077364 -0.020789 -0.012 -0.076043 -0.020789 -0.001 -0.076043"/><mesh name="yoke_h26" vertex="-0.011398 -0.012 -0.064191 -0.011398 -0.001 -0.064191 -0.010142 -0.012 -0.064813 -0.010142 -0.001 -0.064813 -0.016343 -0.012 -0.078471 -0.016343 -0.001 -0.078471 -0.018573 -0.012 -0.077364 -0.018573 -0.001 -0.077364"/><mesh name="yoke_h27" vertex="-0.010142 -0.012 -0.064813 -0.010142 -0.001 -0.064813 -0.008405 -0.012 -0.065532 -0.008405 -0.001 -0.065532 -0.014055 -0.012 -0.079428 -0.014055 -0.001 -0.079428 -0.016343 -0.012 -0.078471 -0.016343 -0.001 -0.078471"/><mesh name="yoke_h28" vertex="-0.008405 -0.012 -0.065532 -0.008405 -0.001 -0.065532 -0.007125 -0.012 -0.066043 -0.007125 -0.001 -0.066043 -0.012107 -0.012 -0.080192 -0.012107 -0.001 -0.080192 -0.014055 -0.012 -0.079428 -0.014055 -0.001 -0.079428"/><mesh name="yoke_h29" vertex="-0.007125 -0.012 -0.066043 -0.007125 -0.001 -0.066043 -0.005826 -0.012 -0.066441 -0.005826 -0.001 -0.066441 -0.009619 -0.012 -0.080954 -0.009619 -0.001 -0.080954 -0.012107 -0.012 -0.080192 -0.012107 -0.001 -0.080192"/><mesh name="yoke_h30" vertex="-0.005826 -0.012 -0.066441 -0.005826 -0.001 -0.066441 -0.004513 -0.012 -0.066726 -0.004513 -0.001 -0.066726 -0.007085 -0.012 -0.081504 -0.007085 -0.001 -0.081504 -0.009619 -0.012 -0.080954 -0.009619 -0.001 -0.080954"/><mesh name="yoke_h31" vertex="-0.004513 -0.012 -0.066726 -0.004513 -0.001 -0.066726 -0.00265 -0.012 -0.066972 -0.00265 -0.001 -0.066972 -0.004592 -0.012 -0.081845 -0.004592 -0.001 -0.081845 -0.007085 -0.012 -0.081504 -0.007085 -0.001 -0.081504"/><mesh name="yoke_h32" vertex="-0.00265 -0.012 -0.066972 -0.00265 -0.001 -0.066972 -0.001327 -0.012 -0.067143 -0.001327 -0.001 -0.067143 -0.002614 -0.012 -0.082088 -0.002614 -0.001 -0.082088 -0.004592 -0.012 -0.081845 -0.004592 -0.001 -0.081845"/><mesh name="yoke_h33" vertex="-0.001327 -0.012 -0.067143 -0.001327 -0.001 -0.067143 0 -0.012 -0.0672 0 -0.001 -0.0672 0 -0.012 -0.0822 0 -0.001 -0.0822 -0.002614 -0.012 -0.082088 -0.002614 -0.001 -0.082088"/><mesh name="yoke_h34" vertex="0 -0.012 -0.0672 0 -0.001 -0.0672 0.001327 -0.012 -0.067143 0.001327 -0.001 -0.067143 0.002614 -0.012 -0.082088 0.002614 -0.001 -0.082088 0 -0.012 -0.0822 0 -0.001 -0.0822"/><mesh name="yoke_h35" vertex="0.001327 -0.012 -0.067143 0.001327 -0.001 -0.067143 0.00265 -0.012 -0.066972 0.00265 -0.001 -0.066972 0.004592 -0.012 -0.081845 0.004592 -0.001 -0.081845 0.002614 -0.012 -0.082088 0.002614 -0.001 -0.082088"/><mesh name="yoke_h36" vertex="0.00265 -0.012 -0.066972 0.00265 -0.001 -0.066972 0.004513 -0.012 -0.066726 0.004513 -0.001 -0.066726 0.007085 -0.012 -0.081504 0.007085 -0.001 -0.081504 0.004592 -0.012 -0.081845 0.004592 -0.001 -0.081845"/><mesh name="yoke_h37" vertex="0.004513 -0.012 -0.066726 0.004513 -0.001 -0.066726 0.005826 -0.012 -0.066441 0.005826 -0.001 -0.066441 0.009619 -0.012 -0.080954 0.009619 -0.001 -0.080954 0.007085 -0.012 -0.081504 0.007085 -0.001 -0.081504"/><mesh name="yoke_h38" vertex="0.005826 -0.012 -0.066441 0.005826 -0.001 -0.066441 0.007125 -0.012 -0.066043 0.007125 -0.001 -0.066043 0.012107 -0.012 -0.080192 0.012107 -0.001 -0.080192 0.009619 -0.012 -0.080954 0.009619 -0.001 -0.080954"/><mesh name="yoke_h39" vertex="0.007125 -0.012 -0.066043 0.007125 -0.001 -0.066043 0.008405 -0.012 -0.065532 0.008405 -0.001 -0.065532 0.014055 -0.012 -0.079428 0.014055 -0.001 -0.079428 0.012107 -0.012 -0.080192 0.012107 -0.001 -0.080192"/><mesh name="yoke_h40" vertex="0.008405 -0.012 -0.065532 0.008405 -0.001 -0.065532 0.010142 -0.012 -0.064813 0.010142 -0.001 -0.064813 0.016343 -0.012 -0.078471 0.016343 -0.001 -0.078471 0.014055 -0.012 -0.079428 0.014055 -0.001 -0.079428"/><mesh name="yoke_h41" vertex="0.010142 -0.012 -0.064813 0.010142 -0.001 -0.064813 0.011398 -0.012 -0.064191 0.011398 -0.001 -0.064191 0.018573 -0.012 -0.077364 0.018573 -0.001 -0.077364 0.016343 -0.012 -0.078471 0.016343 -0.001 -0.078471"/><mesh name="yoke_h42" vertex="0.011398 -0.012 -0.064191 0.011398 -0.001 -0.064191 0.012627 -0.012 -0.063458 0.012627 -0.001 -0.063458 0.020789 -0.012 -0.076043 0.020789 -0.001 -0.076043 0.018573 -0.012 -0.077364 0.018573 -0.001 -0.077364"/><mesh name="yoke_h43" vertex="0.012627 -0.012 -0.063458 0.012627 -0.001 -0.063458 0.013823 -0.012 -0.062617 0.013823 -0.001 -0.062617 0.022706 -0.012 -0.074704 0.022706 -0.001 -0.074704 0.020789 -0.012 -0.076043 0.020789 -0.001 -0.076043"/><mesh name="yoke_h44" vertex="0.013823 -0.012 -0.062617 0.013823 -0.001 -0.062617 0.015314 -0.012 -0.061473 0.015314 -0.001 -0.061473 0.024631 -0.012 -0.073228 0.024631 -0.001 -0.073228 0.022706 -0.012 -0.074704 0.022706 -0.001 -0.074704"/><mesh name="yoke_h45" vertex="0.015314 -0.012 -0.061473 0.015314 -0.001 -0.061473 0.016473 -0.012 -0.060524 0.016473 -0.001 -0.060524 0.026375 -0.012 -0.071792 0.026375 -0.001 -0.071792 0.024631 -0.012 -0.073228 0.024631 -0.001 -0.073228"/><mesh name="yoke_h46" vertex="0.016473 -0.012 -0.060524 0.016473 -0.001 -0.060524 0.017592 -0.012 -0.05947 0.017592 -0.001 -0.05947 0.028244 -0.012 -0.07003 0.028244 -0.001 -0.07003 0.026375 -0.012 -0.071792 0.026375 -0.001 -0.071792"/><mesh name="yoke_h47" vertex="0.017592 -0.012 -0.05947 0.017592 -0.001 -0.05947 0.018664 -0.012 -0.058312 0.018664 -0.001 -0.058312 0.029991 -0.012 -0.068146 0.029991 -0.001 -0.068146 0.028244 -0.012 -0.07003 0.028244 -0.001 -0.07003"/><mesh name="yoke_h48" vertex="0.018664 -0.012 -0.058312 0.018664 -0.001 -0.058312 0.019688 -0.012 -0.057053 0.019688 -0.001 -0.057053 0.031459 -0.012 -0.066351 0.031459 -0.001 -0.066351 0.029991 -0.012 -0.068146 0.029991 -0.001 -0.068146"/><mesh name="yoke_h49" vertex="0.019688 -0.012 -0.057053 0.019688 -0.001 -0.057053 0.020832 -0.012 -0.055562 0.020832 -0.001 -0.055562 0.032886 -0.012 -0.06449 0.032886 -0.001 -0.06449 0.031459 -0.012 -0.066351 0.031459 -0.001 -0.066351"/><mesh name="yoke_h50" vertex="0.020832 -0.012 -0.055562 0.020832 -0.001 -0.055562 0.021803 -0.012 -0.054203 0.021803 -0.001 -0.054203 0.034261 -0.012 -0.062559 0.034261 -0.001 -0.062559 0.032886 -0.012 -0.06449 0.032886 -0.001 -0.06449"/><mesh name="yoke_h51" vertex="0.021803 -0.012 -0.054203 0.021803 -0.001 -0.054203 0.022717 -0.012 -0.052749 0.022717 -0.001 -0.052749 0.03564 -0.012 -0.060365 0.03564 -0.001 -0.060365 0.034261 -0.012 -0.062559 0.034261 -0.001 -0.062559"/><mesh name="yoke_h52" vertex="0.022717 -0.012 -0.052749 0.022717 -0.001 -0.052749 0.023571 -0.012 -0.051201 0.023571 -0.001 -0.051201 0.036898 -0.012 -0.058084 0.036898 -0.001 -0.058084 0.03564 -0.012 -0.060365 0.03564 -0.001 -0.060365"/><mesh name="yoke_h53" vertex="0.023571 -0.012 -0.051201 0.023571 -0.001 -0.051201 0.024361 -0.012 -0.049563 0.024361 -0.001 -0.049563 0.038037 -0.012 -0.055724 0.038037 -0.001 -0.055724 0.036898 -0.012 -0.058084 0.036898 -0.001 -0.058084"/><mesh name="yoke_h54" vertex="0.024361 -0.012 -0.049563 0.024361 -0.001 -0.049563 0.025085 -0.012 -0.047837 0.025085 -0.001 -0.047837 0.03893 -0.012 -0.053608 0.03893 -0.001 -0.053608 0.038037 -0.012 -0.055724 0.038037 -0.001 -0.055724"/><mesh name="yoke_h55" vertex="0.025085 -0.012 -0.047837 0.025085 -0.001 -0.047837 0.025804 -0.012 -0.0461 0.025804 -0.001 -0.0461 0.039789 -0.012 -0.051524 0.039789 -0.001 -0.051524 0.03893 -0.012 -0.053608 0.03893 -0.001 -0.053608"/><mesh name="yoke_h56" vertex="0.025804 -0.012 -0.0461 0.025804 -0.001 -0.0461 0.026459 -0.012 -0.04429 0.026459 -0.001 -0.04429 0.040682 -0.012 -0.049056 0.040682 -0.001 -0.049056 0.039789 -0.012 -0.051524 0.039789 -0.001 -0.051524"/><mesh name="yoke_h57" vertex="0.026459 -0.012 -0.04429 0.026459 -0.001 -0.04429 0.027043 -0.012 -0.042399 0.027043 -0.001 -0.042399 0.041473 -0.012 -0.046497 0.041473 -0.001 -0.046497 0.040682 -0.012 -0.049056 0.040682 -0.001 -0.049056"/><mesh name="yoke_h58" vertex="0.027043 -0.012 -0.042399 0.027043 -0.001 -0.042399 0.027554 -0.012 -0.040431 0.027554 -0.001 -0.040431 0.042151 -0.012 -0.043884 0.042151 -0.001 -0.043884 0.041473 -0.012 -0.046497 0.041473 -0.001 -0.046497"/><mesh name="yoke_h59" vertex="0.027554 -0.012 -0.040431 0.027554 -0.001 -0.040431 0.027991 -0.012 -0.038389 0.027991 -0.001 -0.038389 0.042721 -0.012 -0.041223 0.042721 -0.001 -0.041223 0.042151 -0.012 -0.043884 0.042151 -0.001 -0.043884"/><mesh name="yoke_h60" vertex="0.027991 -0.012 -0.038389 0.027991 -0.001 -0.038389 0.028352 -0.012 -0.036278 0.028352 -0.001 -0.036278 0.043183 -0.012 -0.038522 0.043183 -0.001 -0.038522 0.042721 -0.012 -0.041223 0.042721 -0.001 -0.041223"/><mesh name="yoke_h61" vertex="0.028352 -0.012 -0.036278 0.028352 -0.001 -0.036278 0.028597 -0.012 -0.034415 0.028597 -0.001 -0.034415 0.043469 -0.012 -0.03637 0.043469 -0.001 -0.03637 0.043183 -0.012 -0.038522 0.043183 -0.001 -0.038522"/><mesh name="yoke_h62" vertex="0.028597 -0.012 -0.034415 0.028597 -0.001 -0.034415 0.028883 -0.012 -0.032238 0.028883 -0.001 -0.032238 0.043789 -0.012 -0.03392 0.043789 -0.001 -0.03392 0.043469 -0.012 -0.03637 0.043469 -0.001 -0.03637"/><mesh name="yoke_h63" vertex="0.028883 -0.012 -0.032238 0.028883 -0.001 -0.032238 0.029094 -0.012 -0.03 0.029094 -0.001 -0.03 0.04405 -0.012 -0.031156 0.04405 -0.001 -0.031156 0.043789 -0.012 -0.03392 0.043789 -0.001 -0.03392"/><mesh name="yoke_h64" vertex="0.029094 -0.012 -0.03 0.029094 -0.001 -0.03 0.029233 -0.012 -0.027705 0.029233 -0.001 -0.027705 0.044218 -0.012 -0.028374 0.044218 -0.001 -0.028374 0.04405 -0.012 -0.031156 0.04405 -0.001 -0.031156"/><mesh name="yoke_h65" vertex="0.029233 -0.012 -0.027705 0.029233 -0.001 -0.027705 0.029301 -0.012 -0.025357 0.029301 -0.001 -0.025357 0.044299 -0.012 -0.025583 0.044299 -0.001 -0.025583 0.044218 -0.012 -0.028374 0.044218 -0.001 -0.028374"/><mesh name="yoke_h66" vertex="0.029301 -0.012 -0.025357 0.029301 -0.001 -0.025357 0.029304 -0.012 -0.022961 0.029304 -0.001 -0.022961 0.044303 -0.012 -0.022969 0.044303 -0.001 -0.022969 0.044299 -0.012 -0.025583 0.044299 -0.001 -0.025583"/><mesh name="yoke_h67" vertex="0.029304 -0.012 -0.022961 0.029304 -0.001 -0.022961 0.029304 -0.012 0.022961 0.029304 -0.001 0.022961 0.044303 -0.012 0.022969 0.044303 -0.001 0.022969 0.044303 -0.012 -0.022969 0.044303 -0.001 -0.022969"/><mesh name="yoke_h68" vertex="0.029304 -0.012 0.022961 0.029304 -0.001 0.022961 0.029301 -0.012 0.025357 0.029301 -0.001 0.025357 0.044299 -0.012 0.025583 0.044299 -0.001 0.025583 0.044303 -0.012 0.022969 0.044303 -0.001 0.022969"/><mesh name="yoke_h69" vertex="0.029301 -0.012 0.025357 0.029301 -0.001 0.025357 0.029233 -0.012 0.027705 0.029233 -0.001 0.027705 0.044218 -0.012 0.028374 0.044218 -0.001 0.028374 0.044299 -0.012 0.025583 0.044299 -0.001 0.025583"/><mesh name="yoke_h70" vertex="0.029233 -0.012 0.027705 0.029233 -0.001 0.027705 0.029094 -0.012 0.03 0.029094 -0.001 0.03 0.04405 -0.012 0.031156 0.04405 -0.001 0.031156 0.044218 -0.012 0.028374 0.044218 -0.001 0.028374"/><mesh name="yoke_h71" vertex="0.029094 -0.012 0.03 0.029094 -0.001 0.03 0.028883 -0.012 0.032238 0.028883 -0.001 0.032238 0.043789 -0.012 0.03392 0.043789 -0.001 0.03392 0.04405 -0.012 0.031156 0.04405 -0.001 0.031156"/><mesh name="yoke_h72" vertex="0.028883 -0.012 0.032238 0.028883 -0.001 0.032238 0.028597 -0.012 0.034415 0.028597 -0.001 0.034415 0.043469 -0.012 0.03637 0.043469 -0.001 0.03637 0.043789 -0.012 0.03392 0.043789 -0.001 0.03392"/><mesh name="yoke_h73" vertex="0.028597 -0.012 0.034415 0.028597 -0.001 0.034415 0.028352 -0.012 0.036278 0.028352 -0.001 0.036278 0.043183 -0.012 0.038522 0.043183 -0.001 0.038522 0.043469 -0.012 0.03637 0.043469 -0.001 0.03637"/><mesh name="yoke_h74" vertex="0.028352 -0.012 0.036278 0.028352 -0.001 0.036278 0.027991 -0.012 0.038389 0.027991 -0.001 0.038389 0.042721 -0.012 0.041223 0.042721 -0.001 0.041223 0.043183 -0.012 0.038522 0.043183 -0.001 0.038522"/><mesh name="yoke_h75" vertex="0.027991 -0.012 0.038389 0.027991 -0.001 0.038389 0.027554 -0.012 0.040431 0.027554 -0.001 0.040431 0.042151 -0.012 0.043884 0.042151 -0.001 0.043884 0.042721 -0.012 0.041223 0.042721 -0.001 0.041223"/><mesh name="yoke_h76" vertex="0.027554 -0.012 0.040431 0.027554 -0.001 0.040431 0.027043 -0.012 0.042399 0.027043 -0.001 0.042399 0.041473 -0.012 0.046497 0.041473 -0.001 0.046497 0.042151 -0.012 0.043884 0.042151 -0.001 0.043884"/><mesh name="yoke_h77" vertex="0.027043 -0.012 0.042399 0.027043 -0.001 0.042399 0.026459 -0.012 0.04429 0.026459 -0.001 0.04429 0.040682 -0.012 0.049056 0.040682 -0.001 0.049056 0.041473 -0.012 0.046497 0.041473 -0.001 0.046497"/><mesh name="yoke_h78" vertex="0.026459 -0.012 0.04429 0.026459 -0.001 0.04429 0.025804 -0.012 0.0461 0.025804 -0.001 0.0461 0.039789 -0.012 0.051524 0.039789 -0.001 0.051524 0.040682 -0.012 0.049056 0.040682 -0.001 0.049056"/><mesh name="yoke_h79" vertex="0.025804 -0.012 0.0461 0.025804 -0.001 0.0461 0.025085 -0.012 0.047837 0.025085 -0.001 0.047837 0.03893 -0.012 0.053608 0.03893 -0.001 0.053608 0.039789 -0.012 0.051524 0.039789 -0.001 0.051524"/><mesh name="yoke_h80" vertex="0.025085 -0.012 0.047837 0.025085 -0.001 0.047837 0.024361 -0.012 0.049563 0.024361 -0.001 0.049563 0.038037 -0.012 0.055724 0.038037 -0.001 0.055724 0.03893 -0.012 0.053608 0.03893 -0.001 0.053608"/><mesh name="yoke_h81" vertex="0.024361 -0.012 0.049563 0.024361 -0.001 0.049563 0.023571 -0.012 0.051201 0.023571 -0.001 0.051201 0.036898 -0.012 0.058084 0.036898 -0.001 0.058084 0.038037 -0.012 0.055724 0.038037 -0.001 0.055724"/><mesh name="yoke_h82" vertex="0.023571 -0.012 0.051201 0.023571 -0.001 0.051201 0.022717 -0.012 0.052749 0.022717 -0.001 0.052749 0.03564 -0.012 0.060365 0.03564 -0.001 0.060365 0.036898 -0.012 0.058084 0.036898 -0.001 0.058084"/><mesh name="yoke_h83" vertex="0.022717 -0.012 0.052749 0.022717 -0.001 0.052749 0.021803 -0.012 0.054203 0.021803 -0.001 0.054203 0.034261 -0.012 0.062559 0.034261 -0.001 0.062559 0.03564 -0.012 0.060365 0.03564 -0.001 0.060365"/><mesh name="yoke_h84" vertex="0.021803 -0.012 0.054203 0.021803 -0.001 0.054203 0.020832 -0.012 0.055562 0.020832 -0.001 0.055562 0.032886 -0.012 0.06449 0.032886 -0.001 0.06449 0.034261 -0.012 0.062559 0.034261 -0.001 0.062559"/><mesh name="yoke_h85" vertex="0.020832 -0.012 0.055562 0.020832 -0.001 0.055562 0.019688 -0.012 0.057053 0.019688 -0.001 0.057053 0.031459 -0.012 0.066351 0.031459 -0.001 0.066351 0.032886 -0.012 0.06449 0.032886 -0.001 0.06449"/><mesh name="yoke_h86" vertex="0.019688 -0.012 0.057053 0.019688 -0.001 0.057053 0.018664 -0.012 0.058312 0.018664 -0.001 0.058312 0.029991 -0.012 0.068146 0.029991 -0.001 0.068146 0.031459 -0.012 0.066351 0.031459 -0.001 0.066351"/><mesh name="yoke_h87" vertex="0.018664 -0.012 0.058312 0.018664 -0.001 0.058312 0.017592 -0.012 0.05947 0.017592 -0.001 0.05947 0.028244 -0.012 0.07003 0.028244 -0.001 0.07003 0.029991 -0.012 0.068146 0.029991 -0.001 0.068146"/><mesh name="yoke_h88" vertex="0.017592 -0.012 0.05947 0.017592 -0.001 0.05947 0.016473 -0.012 0.060524 0.016473 -0.001 0.060524 0.026375 -0.012 0.071792 0.026375 -0.001 0.071792 0.028244 -0.012 0.07003 0.028244 -0.001 0.07003"/><mesh name="yoke_h89" vertex="0.016473 -0.012 0.060524 0.016473 -0.001 0.060524 0.015314 -0.012 0.061473 0.015314 -0.001 0.061473 0.024631 -0.012 0.073228 0.024631 -0.001 0.073228 0.026375 -0.012 0.071792 0.026375 -0.001 0.071792"/><mesh name="yoke_h90" vertex="0.015314 -0.012 0.061473 0.015314 -0.001 0.061473 0.013823 -0.012 0.062617 0.013823 -0.001 0.062617 0.022706 -0.012 0.074704 0.022706 -0.001 0.074704 0.024631 -0.012 0.073228 0.024631 -0.001 0.073228"/><mesh name="yoke_h91" vertex="0.013823 -0.012 0.062617 0.013823 -0.001 0.062617 0.012627 -0.012 0.063458 0.012627 -0.001 0.063458 0.020789 -0.012 0.076043 0.020789 -0.001 0.076043 0.022706 -0.012 0.074704 0.022706 -0.001 0.074704"/><mesh name="yoke_h92" vertex="0.012627 -0.012 0.063458 0.012627 -0.001 0.063458 0.011398 -0.012 0.064191 0.011398 -0.001 0.064191 0.018573 -0.012 0.077364 0.018573 -0.001 0.077364 0.020789 -0.012 0.076043 0.020789 -0.001 0.076043"/><mesh name="yoke_h93" vertex="0.011398 -0.012 0.064191 0.011398 -0.001 0.064191 0.010142 -0.012 0.064813 0.010142 -0.001 0.064813 0.016343 -0.012 0.078471 0.016343 -0.001 0.078471 0.018573 -0.012 0.077364 0.018573 -0.001 0.077364"/><mesh name="yoke_h94" vertex="0.010142 -0.012 0.064813 0.010142 -0.001 0.064813 0.008405 -0.012 0.065532 0.008405 -0.001 0.065532 0.014055 -0.012 0.079428 0.014055 -0.001 0.079428 0.016343 -0.012 0.078471 0.016343 -0.001 0.078471"/><mesh name="yoke_h95" vertex="0.008405 -0.012 0.065532 0.008405 -0.001 0.065532 0.007125 -0.012 0.066043 0.007125 -0.001 0.066043 0.012107 -0.012 0.080192 0.012107 -0.001 0.080192 0.014055 -0.012 0.079428 0.014055 -0.001 0.079428"/><mesh name="yoke_h96" vertex="0.007125 -0.012 0.066043 0.007125 -0.001 0.066043 0.005826 -0.012 0.066441 0.005826 -0.001 0.066441 0.009619 -0.012 0.080954 0.009619 -0.001 0.080954 0.012107 -0.012 0.080192 0.012107 -0.001 0.080192"/><mesh name="yoke_h97" vertex="0.005826 -0.012 0.066441 0.005826 -0.001 0.066441 0.004513 -0.012 0.066726 0.004513 -0.001 0.066726 0.007085 -0.012 0.081504 0.007085 -0.001 0.081504 0.009619 -0.012 0.080954 0.009619 -0.001 0.080954"/><mesh name="yoke_h98" vertex="0.004513 -0.012 0.066726 0.004513 -0.001 0.066726 0.00265 -0.012 0.066972 0.00265 -0.001 0.066972 0.004592 -0.012 0.081845 0.004592 -0.001 0.081845 0.007085 -0.012 0.081504 0.007085 -0.001 0.081504"/><mesh name="yoke_h99" vertex="0.00265 -0.012 0.066972 0.00265 -0.001 0.066972 0.001327 -0.012 0.067143 0.001327 -0.001 0.067143 0.002614 -0.012 0.082088 0.002614 -0.001 0.082088 0.004592 -0.012 0.081845 0.004592 -0.001 0.081845"/><mesh name="yoke_h100" vertex="0.001327 -0.012 0.067143 0.001327 -0.001 0.067143 0 -0.012 0.0672 0 -0.001 0.0672 0 -0.012 0.0822 0 -0.001 0.0822 0.002614 -0.012 0.082088 0.002614 -0.001 0.082088"/><mesh name="yoke_h101" vertex="0 -0.012 0.0672 0 -0.001 0.0672 -0.001327 -0.012 0.067143 -0.001327 -0.001 0.067143 -0.002614 -0.012 0.082088 -0.002614 -0.001 0.082088 0 -0.012 0.0822 0 -0.001 0.0822"/><mesh name="yoke_h102" vertex="-0.001327 -0.012 0.067143 -0.001327 -0.001 0.067143 -0.00265 -0.012 0.066972 -0.00265 -0.001 0.066972 -0.004592 -0.012 0.081845 -0.004592 -0.001 0.081845 -0.002614 -0.012 0.082088 -0.002614 -0.001 0.082088"/><mesh name="yoke_h103" vertex="-0.00265 -0.012 0.066972 -0.00265 -0.001 0.066972 -0.004513 -0.012 0.066726 -0.004513 -0.001 0.066726 -0.007085 -0.012 0.081504 -0.007085 -0.001 0.081504 -0.004592 -0.012 0.081845 -0.004592 -0.001 0.081845"/><mesh name="yoke_h104" vertex="-0.004513 -0.012 0.066726 -0.004513 -0.001 0.066726 -0.005826 -0.012 0.066441 -0.005826 -0.001 0.066441 -0.009619 -0.012 0.080954 -0.009619 -0.001 0.080954 -0.007085 -0.012 0.081504 -0.007085 -0.001 0.081504"/><mesh name="yoke_h105" vertex="-0.005826 -0.012 0.066441 -0.005826 -0.001 0.066441 -0.007125 -0.012 0.066043 -0.007125 -0.001 0.066043 -0.012107 -0.012 0.080192 -0.012107 -0.001 0.080192 -0.009619 -0.012 0.080954 -0.009619 -0.001 0.080954"/><mesh name="yoke_h106" vertex="-0.007125 -0.012 0.066043 -0.007125 -0.001 0.066043 -0.008405 -0.012 0.065532 -0.008405 -0.001 0.065532 -0.014055 -0.012 0.079428 -0.014055 -0.001 0.079428 -0.012107 -0.012 0.080192 -0.012107 -0.001 0.080192"/><mesh name="yoke_h107" vertex="-0.008405 -0.012 0.065532 -0.008405 -0.001 0.065532 -0.010142 -0.012 0.064813 -0.010142 -0.001 0.064813 -0.016343 -0.012 0.078471 -0.016343 -0.001 0.078471 -0.014055 -0.012 0.079428 -0.014055 -0.001 0.079428"/><mesh name="yoke_h108" vertex="-0.010142 -0.012 0.064813 -0.010142 -0.001 0.064813 -0.011398 -0.012 0.064191 -0.011398 -0.001 0.064191 -0.018573 -0.012 0.077364 -0.018573 -0.001 0.077364 -0.016343 -0.012 0.078471 -0.016343 -0.001 0.078471"/><mesh name="yoke_h109" vertex="-0.011398 -0.012 0.064191 -0.011398 -0.001 0.064191 -0.012627 -0.012 0.063458 -0.012627 -0.001 0.063458 -0.020789 -0.012 0.076043 -0.020789 -0.001 0.076043 -0.018573 -0.012 0.077364 -0.018573 -0.001 0.077364"/><mesh name="yoke_h110" vertex="-0.012627 -0.012 0.063458 -0.012627 -0.001 0.063458 -0.013823 -0.012 0.062617 -0.013823 -0.001 0.062617 -0.022706 -0.012 0.074704 -0.022706 -0.001 0.074704 -0.020789 -0.012 0.076043 -0.020789 -0.001 0.076043"/><mesh name="yoke_h111" vertex="-0.013823 -0.012 0.062617 -0.013823 -0.001 0.062617 -0.015314 -0.012 0.061473 -0.015314 -0.001 0.061473 -0.024631 -0.012 0.073228 -0.024631 -0.001 0.073228 -0.022706 -0.012 0.074704 -0.022706 -0.001 0.074704"/><mesh name="yoke_h112" vertex="-0.015314 -0.012 0.061473 -0.015314 -0.001 0.061473 -0.016473 -0.012 0.060524 -0.016473 -0.001 0.060524 -0.026375 -0.012 0.071792 -0.026375 -0.001 0.071792 -0.024631 -0.012 0.073228 -0.024631 -0.001 0.073228"/><mesh name="yoke_h113" vertex="-0.016473 -0.012 0.060524 -0.016473 -0.001 0.060524 -0.017592 -0.012 0.05947 -0.017592 -0.001 0.05947 -0.028244 -0.012 0.07003 -0.028244 -0.001 0.07003 -0.026375 -0.012 0.071792 -0.026375 -0.001 0.071792"/><mesh name="yoke_h114" vertex="-0.017592 -0.012 0.05947 -0.017592 -0.001 0.05947 -0.018664 -0.012 0.058312 -0.018664 -0.001 0.058312 -0.029991 -0.012 0.068146 -0.029991 -0.001 0.068146 -0.028244 -0.012 0.07003 -0.028244 -0.001 0.07003"/><mesh name="yoke_h115" vertex="-0.018664 -0.012 0.058312 -0.018664 -0.001 0.058312 -0.019688 -0.012 0.057053 -0.019688 -0.001 0.057053 -0.031459 -0.012 0.066351 -0.031459 -0.001 0.066351 -0.029991 -0.012 0.068146 -0.029991 -0.001 0.068146"/><mesh name="yoke_h116" vertex="-0.019688 -0.012 0.057053 -0.019688 -0.001 0.057053 -0.020832 -0.012 0.055562 -0.020832 -0.001 0.055562 -0.032886 -0.012 0.06449 -0.032886 -0.001 0.06449 -0.031459 -0.012 0.066351 -0.031459 -0.001 0.066351"/><mesh name="yoke_h117" vertex="-0.020832 -0.012 0.055562 -0.020832 -0.001 0.055562 -0.021803 -0.012 0.054203 -0.021803 -0.001 0.054203 -0.034261 -0.012 0.062559 -0.034261 -0.001 0.062559 -0.032886 -0.012 0.06449 -0.032886 -0.001 0.06449"/><mesh name="yoke_h118" vertex="-0.021803 -0.012 0.054203 -0.021803 -0.001 0.054203 -0.022717 -0.012 0.052749 -0.022717 -0.001 0.052749 -0.03564 -0.012 0.060365 -0.03564 -0.001 0.060365 -0.034261 -0.012 0.062559 -0.034261 -0.001 0.062559"/><mesh name="yoke_h119" vertex="-0.022717 -0.012 0.052749 -0.022717 -0.001 0.052749 -0.023571 -0.012 0.051201 -0.023571 -0.001 0.051201 -0.036898 -0.012 0.058084 -0.036898 -0.001 0.058084 -0.03564 -0.012 0.060365 -0.03564 -0.001 0.060365"/><mesh name="yoke_h120" vertex="-0.023571 -0.012 0.051201 -0.023571 -0.001 0.051201 -0.024361 -0.012 0.049563 -0.024361 -0.001 0.049563 -0.038037 -0.012 0.055724 -0.038037 -0.001 0.055724 -0.036898 -0.012 0.058084 -0.036898 -0.001 0.058084"/><mesh name="yoke_h121" vertex="-0.024361 -0.012 0.049563 -0.024361 -0.001 0.049563 -0.025085 -0.012 0.047837 -0.025085 -0.001 0.047837 -0.03893 -0.012 0.053608 -0.03893 -0.001 0.053608 -0.038037 -0.012 0.055724 -0.038037 -0.001 0.055724"/><mesh name="yoke_h122" vertex="-0.025085 -0.012 0.047837 -0.025085 -0.001 0.047837 -0.025804 -0.012 0.0461 -0.025804 -0.001 0.0461 -0.039789 -0.012 0.051524 -0.039789 -0.001 0.051524 -0.03893 -0.012 0.053608 -0.03893 -0.001 0.053608"/><mesh name="yoke_h123" vertex="-0.025804 -0.012 0.0461 -0.025804 -0.001 0.0461 -0.026459 -0.012 0.04429 -0.026459 -0.001 0.04429 -0.040682 -0.012 0.049056 -0.040682 -0.001 0.049056 -0.039789 -0.012 0.051524 -0.039789 -0.001 0.051524"/><mesh name="yoke_h124" vertex="-0.026459 -0.012 0.04429 -0.026459 -0.001 0.04429 -0.027043 -0.012 0.042399 -0.027043 -0.001 0.042399 -0.041473 -0.012 0.046497 -0.041473 -0.001 0.046497 -0.040682 -0.012 0.049056 -0.040682 -0.001 0.049056"/><mesh name="yoke_h125" vertex="-0.027043 -0.012 0.042399 -0.027043 -0.001 0.042399 -0.027554 -0.012 0.040431 -0.027554 -0.001 0.040431 -0.042151 -0.012 0.043884 -0.042151 -0.001 0.043884 -0.041473 -0.012 0.046497 -0.041473 -0.001 0.046497"/><mesh name="yoke_h126" vertex="-0.027554 -0.012 0.040431 -0.027554 -0.001 0.040431 -0.027991 -0.012 0.038389 -0.027991 -0.001 0.038389 -0.042721 -0.012 0.041223 -0.042721 -0.001 0.041223 -0.042151 -0.012 0.043884 -0.042151 -0.001 0.043884"/><mesh name="yoke_h127" vertex="-0.027991 -0.012 0.038389 -0.027991 -0.001 0.038389 -0.028352 -0.012 0.036278 -0.028352 -0.001 0.036278 -0.043183 -0.012 0.038522 -0.043183 -0.001 0.038522 -0.042721 -0.012 0.041223 -0.042721 -0.001 0.041223"/><mesh name="yoke_h128" vertex="-0.028352 -0.012 0.036278 -0.028352 -0.001 0.036278 -0.028597 -0.012 0.034415 -0.028597 -0.001 0.034415 -0.043469 -0.012 0.03637 -0.043469 -0.001 0.03637 -0.043183 -0.012 0.038522 -0.043183 -0.001 0.038522"/><mesh name="yoke_h129" vertex="-0.028597 -0.012 0.034415 -0.028597 -0.001 0.034415 -0.028883 -0.012 0.032238 -0.028883 -0.001 0.032238 -0.043789 -0.012 0.03392 -0.043789 -0.001 0.03392 -0.043469 -0.012 0.03637 -0.043469 -0.001 0.03637"/><mesh name="yoke_h130" vertex="-0.028883 -0.012 0.032238 -0.028883 -0.001 0.032238 -0.029094 -0.012 0.03 -0.029094 -0.001 0.03 -0.04405 -0.012 0.031156 -0.04405 -0.001 0.031156 -0.043789 -0.012 0.03392 -0.043789 -0.001 0.03392"/><mesh name="yoke_h131" vertex="-0.029094 -0.012 0.03 -0.029094 -0.001 0.03 -0.029233 -0.012 0.027705 -0.029233 -0.001 0.027705 -0.044218 -0.012 0.028374 -0.044218 -0.001 0.028374 -0.04405 -0.012 0.031156 -0.04405 -0.001 0.031156"/><mesh name="yoke_h132" vertex="-0.029233 -0.012 0.027705 -0.029233 -0.001 0.027705 -0.029301 -0.012 0.025357 -0.029301 -0.001 0.025357 -0.044299 -0.012 0.025583 -0.044299 -0.001 0.025583 -0.044218 -0.012 0.028374 -0.044218 -0.001 0.028374"/><mesh name="yoke_h133" vertex="-0.029301 -0.012 0.025357 -0.029301 -0.001 0.025357 -0.029303 -0.012 0.022961 -0.029303 -0.001 0.022961 -0.044303 -0.012 0.022969 -0.044303 -0.001 0.022969 -0.044299 -0.012 0.025583 -0.044299 -0.001 0.025583"/><mesh name="yoke_h134" vertex="-0.029303 -0.012 0.022961 -0.029303 -0.001 0.022961 -0.029303 -0.012 -0.022961 -0.029303 -0.001 -0.022961 -0.044303 -0.012 -0.022969 -0.044303 -0.001 -0.022969 -0.044303 -0.012 0.022969 -0.044303 -0.001 0.022969"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0007868190989 0.003054472091 0" mass="1" fullinertia="0.001599751572 0.00321544413 0.001646341634 0.000007517641121 0 0"/><geom name="crank_h0" type="capsule" fromto="0.06 0 0 0.06 -0.013 0" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="yoke" pos="0.039 0 0"><joint name="j_u" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="-5.773654818e-8 -0.0065 0.02393735111" mass="0.6" fullinertia="0.001609826852 0.002406331386 0.0008080896448 0 -8.292360153e-10 0"/><geom name="yoke_h0" type="mesh" mesh="yoke_h0" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h1" type="mesh" mesh="yoke_h1" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h2" type="mesh" mesh="yoke_h2" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h3" type="mesh" mesh="yoke_h3" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h4" type="mesh" mesh="yoke_h4" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h5" type="mesh" mesh="yoke_h5" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h6" type="mesh" mesh="yoke_h6" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h7" type="mesh" mesh="yoke_h7" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h8" type="mesh" mesh="yoke_h8" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h9" type="mesh" mesh="yoke_h9" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h10" type="mesh" mesh="yoke_h10" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h11" type="mesh" mesh="yoke_h11" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h12" type="mesh" mesh="yoke_h12" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h13" type="mesh" mesh="yoke_h13" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h14" type="mesh" mesh="yoke_h14" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h15" type="mesh" mesh="yoke_h15" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h16" type="mesh" mesh="yoke_h16" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h17" type="mesh" mesh="yoke_h17" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h18" type="mesh" mesh="yoke_h18" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h19" type="mesh" mesh="yoke_h19" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h20" type="mesh" mesh="yoke_h20" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h21" type="mesh" mesh="yoke_h21" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h22" type="mesh" mesh="yoke_h22" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h23" type="mesh" mesh="yoke_h23" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h24" type="mesh" mesh="yoke_h24" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h25" type="mesh" mesh="yoke_h25" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h26" type="mesh" mesh="yoke_h26" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h27" type="mesh" mesh="yoke_h27" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h28" type="mesh" mesh="yoke_h28" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h29" type="mesh" mesh="yoke_h29" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h30" type="mesh" mesh="yoke_h30" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h31" type="mesh" mesh="yoke_h31" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h32" type="mesh" mesh="yoke_h32" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h33" type="mesh" mesh="yoke_h33" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h34" type="mesh" mesh="yoke_h34" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h35" type="mesh" mesh="yoke_h35" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h36" type="mesh" mesh="yoke_h36" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h37" type="mesh" mesh="yoke_h37" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h38" type="mesh" mesh="yoke_h38" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h39" type="mesh" mesh="yoke_h39" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h40" type="mesh" mesh="yoke_h40" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h41" type="mesh" mesh="yoke_h41" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h42" type="mesh" mesh="yoke_h42" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h43" type="mesh" mesh="yoke_h43" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h44" type="mesh" mesh="yoke_h44" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h45" type="mesh" mesh="yoke_h45" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h46" type="mesh" mesh="yoke_h46" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h47" type="mesh" mesh="yoke_h47" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h48" type="mesh" mesh="yoke_h48" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h49" type="mesh" mesh="yoke_h49" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h50" type="mesh" mesh="yoke_h50" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h51" type="mesh" mesh="yoke_h51" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h52" type="mesh" mesh="yoke_h52" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h53" type="mesh" mesh="yoke_h53" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h54" type="mesh" mesh="yoke_h54" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h55" type="mesh" mesh="yoke_h55" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h56" type="mesh" mesh="yoke_h56" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h57" type="mesh" mesh="yoke_h57" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h58" type="mesh" mesh="yoke_h58" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h59" type="mesh" mesh="yoke_h59" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h60" type="mesh" mesh="yoke_h60" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h61" type="mesh" mesh="yoke_h61" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h62" type="mesh" mesh="yoke_h62" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h63" type="mesh" mesh="yoke_h63" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h64" type="mesh" mesh="yoke_h64" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h65" type="mesh" mesh="yoke_h65" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h66" type="mesh" mesh="yoke_h66" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h67" type="mesh" mesh="yoke_h67" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h68" type="mesh" mesh="yoke_h68" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h69" type="mesh" mesh="yoke_h69" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h70" type="mesh" mesh="yoke_h70" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h71" type="mesh" mesh="yoke_h71" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h72" type="mesh" mesh="yoke_h72" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h73" type="mesh" mesh="yoke_h73" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h74" type="mesh" mesh="yoke_h74" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h75" type="mesh" mesh="yoke_h75" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h76" type="mesh" mesh="yoke_h76" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h77" type="mesh" mesh="yoke_h77" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h78" type="mesh" mesh="yoke_h78" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h79" type="mesh" mesh="yoke_h79" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h80" type="mesh" mesh="yoke_h80" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h81" type="mesh" mesh="yoke_h81" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h82" type="mesh" mesh="yoke_h82" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h83" type="mesh" mesh="yoke_h83" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h84" type="mesh" mesh="yoke_h84" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h85" type="mesh" mesh="yoke_h85" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h86" type="mesh" mesh="yoke_h86" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h87" type="mesh" mesh="yoke_h87" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h88" type="mesh" mesh="yoke_h88" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h89" type="mesh" mesh="yoke_h89" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h90" type="mesh" mesh="yoke_h90" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h91" type="mesh" mesh="yoke_h91" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h92" type="mesh" mesh="yoke_h92" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h93" type="mesh" mesh="yoke_h93" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h94" type="mesh" mesh="yoke_h94" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h95" type="mesh" mesh="yoke_h95" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h96" type="mesh" mesh="yoke_h96" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h97" type="mesh" mesh="yoke_h97" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h98" type="mesh" mesh="yoke_h98" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h99" type="mesh" mesh="yoke_h99" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h100" type="mesh" mesh="yoke_h100" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h101" type="mesh" mesh="yoke_h101" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h102" type="mesh" mesh="yoke_h102" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h103" type="mesh" mesh="yoke_h103" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h104" type="mesh" mesh="yoke_h104" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h105" type="mesh" mesh="yoke_h105" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h106" type="mesh" mesh="yoke_h106" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h107" type="mesh" mesh="yoke_h107" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h108" type="mesh" mesh="yoke_h108" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h109" type="mesh" mesh="yoke_h109" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h110" type="mesh" mesh="yoke_h110" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h111" type="mesh" mesh="yoke_h111" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h112" type="mesh" mesh="yoke_h112" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h113" type="mesh" mesh="yoke_h113" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h114" type="mesh" mesh="yoke_h114" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h115" type="mesh" mesh="yoke_h115" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h116" type="mesh" mesh="yoke_h116" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h117" type="mesh" mesh="yoke_h117" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h118" type="mesh" mesh="yoke_h118" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h119" type="mesh" mesh="yoke_h119" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h120" type="mesh" mesh="yoke_h120" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h121" type="mesh" mesh="yoke_h121" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h122" type="mesh" mesh="yoke_h122" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h123" type="mesh" mesh="yoke_h123" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h124" type="mesh" mesh="yoke_h124" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h125" type="mesh" mesh="yoke_h125" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h126" type="mesh" mesh="yoke_h126" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h127" type="mesh" mesh="yoke_h127" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h128" type="mesh" mesh="yoke_h128" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h129" type="mesh" mesh="yoke_h129" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h130" type="mesh" mesh="yoke_h130" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h131" type="mesh" mesh="yoke_h131" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h132" type="mesh" mesh="yoke_h132" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h133" type="mesh" mesh="yoke_h133" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="yoke_h134" type="mesh" mesh="yoke_h134" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<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></equality>

<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
