<mujoco model="182-hand-gear-diagonal-catch-top">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="handle_u_h0" vertex="-0.015759 -0.006 -0.009712 -0.015759 0.006 -0.009712 -0.0158612225 -0.006 -0.00893554286 -0.0158612225 0.006 -0.00893554286 -0.0161609238 -0.006 -0.008212 -0.0161609238 0.006 -0.008212 -0.0166376797 -0.006 -0.00759067966 -0.0166376797 0.006 -0.00759067966 -0.017259 -0.006 -0.00711392379 -0.017259 0.006 -0.00711392379 -0.0179825429 -0.006 -0.00681422252 -0.0179825429 0.006 -0.00681422252 -0.018759 -0.006 -0.006712 -0.018759 0.006 -0.006712 -0.0195354571 -0.006 -0.00681422252 -0.0195354571 0.006 -0.00681422252 -0.020259 -0.006 -0.00711392379 -0.020259 0.006 -0.00711392379 -0.0208803203 -0.006 -0.00759067966 -0.0208803203 0.006 -0.00759067966 -0.0213570762 -0.006 -0.008212 -0.0213570762 0.006 -0.008212 -0.0216567775 -0.006 -0.00893554286 -0.0216567775 0.006 -0.00893554286 -0.021759 -0.006 -0.009712 -0.021759 0.006 -0.009712 -0.0216567775 -0.006 -0.0104884571 -0.0216567775 0.006 -0.0104884571 -0.0213570762 -0.006 -0.011212 -0.0213570762 0.006 -0.011212 -0.0208803203 -0.006 -0.0118333203 -0.0208803203 0.006 -0.0118333203 -0.020259 -0.006 -0.0123100762 -0.020259 0.006 -0.0123100762 -0.0195354571 -0.006 -0.0126097775 -0.0195354571 0.006 -0.0126097775 -0.018759 -0.006 -0.012712 -0.018759 0.006 -0.012712 -0.0179825429 -0.006 -0.0126097775 -0.0179825429 0.006 -0.0126097775 -0.017259 -0.006 -0.0123100762 -0.017259 0.006 -0.0123100762 -0.0166376797 -0.006 -0.0118333203 -0.0166376797 0.006 -0.0118333203 -0.0161609238 -0.006 -0.011212 -0.0161609238 0.006 -0.011212 -0.0158612225 -0.006 -0.0104884571 -0.0158612225 0.006 -0.0104884571"/><mesh name="handle_u_h1" vertex="-0.024341 -0.006 -0.074426 -0.024341 0.006 -0.074426 -0.0244432225 -0.006 -0.0736495429 -0.0244432225 0.006 -0.0736495429 -0.0247429238 -0.006 -0.072926 -0.0247429238 0.006 -0.072926 -0.0252196797 -0.006 -0.0723046797 -0.0252196797 0.006 -0.0723046797 -0.025841 -0.006 -0.0718279238 -0.025841 0.006 -0.0718279238 -0.0265645429 -0.006 -0.0715282225 -0.0265645429 0.006 -0.0715282225 -0.027341 -0.006 -0.071426 -0.027341 0.006 -0.071426 -0.0281174571 -0.006 -0.0715282225 -0.0281174571 0.006 -0.0715282225 -0.028841 -0.006 -0.0718279238 -0.028841 0.006 -0.0718279238 -0.0294623203 -0.006 -0.0723046797 -0.0294623203 0.006 -0.0723046797 -0.0299390762 -0.006 -0.072926 -0.0299390762 0.006 -0.072926 -0.0302387775 -0.006 -0.0736495429 -0.0302387775 0.006 -0.0736495429 -0.030341 -0.006 -0.074426 -0.030341 0.006 -0.074426 -0.0302387775 -0.006 -0.0752024571 -0.0302387775 0.006 -0.0752024571 -0.0299390762 -0.006 -0.075926 -0.0299390762 0.006 -0.075926 -0.0294623203 -0.006 -0.0765473203 -0.0294623203 0.006 -0.0765473203 -0.028841 -0.006 -0.0770240762 -0.028841 0.006 -0.0770240762 -0.0281174571 -0.006 -0.0773237775 -0.0281174571 0.006 -0.0773237775 -0.027341 -0.006 -0.077426 -0.027341 0.006 -0.077426 -0.0265645429 -0.006 -0.0773237775 -0.0265645429 0.006 -0.0773237775 -0.025841 -0.006 -0.0770240762 -0.025841 0.006 -0.0770240762 -0.0252196797 -0.006 -0.0765473203 -0.0252196797 0.006 -0.0765473203 -0.0247429238 -0.006 -0.075926 -0.0247429238 0.006 -0.075926 -0.0244432225 -0.006 -0.0752024571 -0.0244432225 0.006 -0.0752024571"/><mesh name="handle_u_h2" vertex="0.010485 -0.006 -0.002461 0.010485 0.006 -0.002461 0.085632 -0.006 0.008897 0.085632 0.006 0.008897 0.084437 -0.006 0.016807 0.084437 0.006 0.016807 0.00929 -0.006 0.005449 0.00929 0.006 0.005449"/><mesh name="handle_l_h0" vertex="-0.017 -0.006 0.0068 -0.017 0.006 0.0068 -0.0171022225 -0.006 0.00757645714 -0.0171022225 0.006 0.00757645714 -0.0174019238 -0.006 0.0083 -0.0174019238 0.006 0.0083 -0.0178786797 -0.006 0.00892132034 -0.0178786797 0.006 0.00892132034 -0.0185 -0.006 0.00939807621 -0.0185 0.006 0.00939807621 -0.0192235429 -0.006 0.00969777748 -0.0192235429 0.006 0.00969777748 -0.02 -0.006 0.0098 -0.02 0.006 0.0098 -0.0207764571 -0.006 0.00969777748 -0.0207764571 0.006 0.00969777748 -0.0215 -0.006 0.00939807621 -0.0215 0.006 0.00939807621 -0.0221213203 -0.006 0.00892132034 -0.0221213203 0.006 0.00892132034 -0.0225980762 -0.006 0.0083 -0.0225980762 0.006 0.0083 -0.0228977775 -0.006 0.00757645714 -0.0228977775 0.006 0.00757645714 -0.023 -0.006 0.0068 -0.023 0.006 0.0068 -0.0228977775 -0.006 0.00602354286 -0.0228977775 0.006 0.00602354286 -0.0225980762 -0.006 0.0053 -0.0225980762 0.006 0.0053 -0.0221213203 -0.006 0.00467867966 -0.0221213203 0.006 0.00467867966 -0.0215 -0.006 0.00420192379 -0.0215 0.006 0.00420192379 -0.0207764571 -0.006 0.00390222252 -0.0207764571 0.006 0.00390222252 -0.02 -0.006 0.0038 -0.02 0.006 0.0038 -0.0192235429 -0.006 0.00390222252 -0.0192235429 0.006 0.00390222252 -0.0185 -0.006 0.00420192379 -0.0185 0.006 0.00420192379 -0.0178786797 -0.006 0.00467867966 -0.0178786797 0.006 0.00467867966 -0.0174019238 -0.006 0.0053 -0.0174019238 0.006 0.0053 -0.0171022225 -0.006 0.00602354286 -0.0171022225 0.006 0.00602354286"/><mesh name="handle_l_h1" vertex="-0.035156 -0.006 0.069504 -0.035156 0.006 0.069504 -0.0352582225 -0.006 0.0702804571 -0.0352582225 0.006 0.0702804571 -0.0355579238 -0.006 0.071004 -0.0355579238 0.006 0.071004 -0.0360346797 -0.006 0.0716253203 -0.0360346797 0.006 0.0716253203 -0.036656 -0.006 0.0721020762 -0.036656 0.006 0.0721020762 -0.0373795429 -0.006 0.0724017775 -0.0373795429 0.006 0.0724017775 -0.038156 -0.006 0.072504 -0.038156 0.006 0.072504 -0.0389324571 -0.006 0.0724017775 -0.0389324571 0.006 0.0724017775 -0.039656 -0.006 0.0721020762 -0.039656 0.006 0.0721020762 -0.0402773203 -0.006 0.0716253203 -0.0402773203 0.006 0.0716253203 -0.0407540762 -0.006 0.071004 -0.0407540762 0.006 0.071004 -0.0410537775 -0.006 0.0702804571 -0.0410537775 0.006 0.0702804571 -0.041156 -0.006 0.069504 -0.041156 0.006 0.069504 -0.0410537775 -0.006 0.0687275429 -0.0410537775 0.006 0.0687275429 -0.0407540762 -0.006 0.068004 -0.0407540762 0.006 0.068004 -0.0402773203 -0.006 0.0673826797 -0.0402773203 0.006 0.0673826797 -0.039656 -0.006 0.0669059238 -0.039656 0.006 0.0669059238 -0.0389324571 -0.006 0.0666062225 -0.0389324571 0.006 0.0666062225 -0.038156 -0.006 0.066504 -0.038156 0.006 0.066504 -0.0373795429 -0.006 0.0666062225 -0.0373795429 0.006 0.0666062225 -0.036656 -0.006 0.0669059238 -0.036656 0.006 0.0669059238 -0.0360346797 -0.006 0.0673826797 -0.0360346797 0.006 0.0673826797 -0.0355579238 -0.006 0.068004 -0.0355579238 0.006 0.068004 -0.0352582225 -0.006 0.0687275429 -0.0352582225 0.006 0.0687275429"/><mesh name="handle_l_h2" vertex="0.01 -0.006 -0.004 0.01 0.006 -0.004 0.086 -0.006 -0.004 0.086 0.006 -0.004 0.086 -0.006 0.004 0.086 0.006 0.004 0.01 -0.006 0.004 0.01 0.006 0.004"/><mesh name="catch_h0" vertex="-0.004193157 -0.006 0.0417901595 -0.004193157 0.006 0.0417901595 -0.00499185358 -0.006 0.0497501899 -0.00499185358 0.006 0.0497501899 -0.0060788579 -0.006 0.0496290992 -0.0060788579 0.006 0.0496290992 -0.00510624063 -0.006 0.0416884433 -0.00510624063 0.006 0.0416884433"/><mesh name="catch_h1" vertex="-0.00510624063 -0.006 0.0416884433 -0.00510624063 0.006 0.0416884433 -0.0060788579 -0.006 0.0496290992 -0.0060788579 0.006 0.0496290992 -0.0071629535 -0.006 0.0494842611 -0.0071629535 0.006 0.0494842611 -0.00601688094 -0.006 0.0415667793 -0.00601688094 0.006 0.0415667793"/><mesh name="catch_h2" vertex="-0.00601688094 -0.006 0.0415667793 -0.00601688094 0.006 0.0415667793 -0.0071629535 -0.006 0.0494842611 -0.0071629535 0.006 0.0494842611 -0.00824362166 -0.006 0.049315745 -0.00824362166 0.006 0.049315745 -0.0069246422 -0.006 0.0414252258 -0.0069246422 0.006 0.0414252258"/><mesh name="catch_h3" vertex="-0.0069246422 -0.006 0.0414252258 -0.0069246422 0.006 0.0414252258 -0.00824362166 -0.006 0.049315745 -0.00824362166 0.006 0.049315745 -0.00932034528 -0.006 0.0491236314 -0.00932034528 0.006 0.0491236314 -0.00782909003 -0.006 0.0412638504 -0.00782909003 0.006 0.0412638504"/><mesh name="catch_h4" vertex="-0.00782909003 -0.006 0.0412638504 -0.00782909003 0.006 0.0412638504 -0.00932034528 -0.006 0.0491236314 -0.00932034528 0.006 0.0491236314 -0.0103926091 -0.006 0.0489080124 -0.0103926091 0.006 0.0489080124 -0.00872979168 -0.006 0.0410827304 -0.00872979168 0.006 0.0410827304"/><mesh name="catch_h5" vertex="-0.00872979168 -0.006 0.0410827304 -0.00872979168 0.006 0.0410827304 -0.0103926091 -0.006 0.0489080124 -0.0103926091 0.006 0.0489080124 -0.0114599002 -0.006 0.048668991 -0.0114599002 0.006 0.048668991 -0.00962631615 -0.006 0.0408819525 -0.00962631615 0.006 0.0408819525"/><mesh name="catch_h6" vertex="-0.00962631615 -0.006 0.0408819525 -0.00962631615 0.006 0.0408819525 -0.0114599002 -0.006 0.048668991 -0.0114599002 0.006 0.048668991 -0.0125217077 -0.006 0.0484066817 -0.0125217077 0.006 0.0484066817 -0.0105182345 -0.006 0.0406616127 -0.0105182345 0.006 0.0406616127"/><mesh name="catch_h7" vertex="-0.0105182345 -0.006 0.0406616127 -0.0105182345 0.006 0.0406616127 -0.0125217077 -0.006 0.0484066817 -0.0125217077 0.006 0.0484066817 -0.0135775236 -0.006 0.04812121 -0.0135775236 0.006 0.04812121 -0.0114051198 -0.006 0.0404218164 -0.0114051198 0.006 0.0404218164"/><mesh name="catch_h8" vertex="-0.0114051198 -0.006 0.0404218164 -0.0114051198 0.006 0.0404218164 -0.0135775236 -0.006 0.04812121 -0.0135775236 0.006 0.04812121 -0.0146268427 -0.006 0.0478127125 -0.0146268427 0.006 0.0478127125 -0.0122865479 -0.006 0.0401626785 -0.0122865479 0.006 0.0401626785"/><mesh name="catch_h9" vertex="-0.0122865479 -0.006 0.0401626785 -0.0122865479 0.006 0.0401626785 -0.0146268427 -0.006 0.0478127125 -0.0146268427 0.006 0.0478127125 -0.015669163 -0.006 0.0474813367 -0.015669163 0.006 0.0474813367 -0.0131620969 -0.006 0.0398843228 -0.0131620969 0.006 0.0398843228"/><mesh name="catch_h10" vertex="-0.0131620969 -0.006 0.0398843228 -0.0131620969 0.006 0.0398843228 -0.015669163 -0.006 0.0474813367 -0.015669163 0.006 0.0474813367 -0.0167039855 -0.006 0.0471272412 -0.0167039855 0.006 0.0471272412 -0.0140313479 -0.006 0.0395868826 -0.0140313479 0.006 0.0395868826"/><mesh name="catch_h11" vertex="-0.0140313479 -0.006 0.0395868826 -0.0140313479 0.006 0.0395868826 -0.0167039855 -0.006 0.0471272412 -0.0167039855 0.006 0.0471272412 -0.0177308153 -0.006 0.0467505956 -0.0177308153 0.006 0.0467505956 -0.0148938849 -0.006 0.0392705003 -0.0148938849 0.006 0.0392705003"/><mesh name="catch_h12" vertex="-0.0148938849 -0.006 0.0392705003 -0.0148938849 0.006 0.0392705003 -0.0177308153 -0.006 0.0467505956 -0.0177308153 0.006 0.0467505956 -0.018749161 -0.006 0.0463515799 -0.018749161 0.006 0.0463515799 -0.0157492952 -0.006 0.0389353271 -0.0157492952 0.006 0.0389353271"/><mesh name="catch_h13" vertex="-0.0157492952 -0.006 0.0389353271 -0.0157492952 0.006 0.0389353271 -0.018749161 -0.006 0.0463515799 -0.018749161 0.006 0.0463515799 -0.0197585352 -0.006 0.0459303852 -0.0197585352 0.006 0.0459303852 -0.0165971696 -0.006 0.0385815236 -0.0165971696 0.006 0.0385815236"/><mesh name="catch_h14" vertex="-0.0165971696 -0.006 0.0385815236 -0.0165971696 0.006 0.0385815236 -0.0197585352 -0.006 0.0459303852 -0.0197585352 0.006 0.0459303852 -0.0207584551 -0.006 0.045487213 -0.0207584551 0.006 0.045487213 -0.0174371023 -0.006 0.0382092589 -0.0174371023 0.006 0.0382092589"/><mesh name="catch_h15" vertex="-0.0174371023 -0.006 0.0382092589 -0.0174371023 0.006 0.0382092589 -0.0207584551 -0.006 0.045487213 -0.0207584551 0.006 0.045487213 -0.0217484421 -0.006 0.0450222752 -0.0217484421 0.006 0.0450222752 -0.0182686913 -0.006 0.0378187112 -0.0182686913 0.006 0.0378187112"/><mesh name="catch_h16" vertex="-0.00627655411 -0.006 -0.0415283622 -0.00627655411 0.006 -0.0415283622 -0.00747208822 -0.006 -0.0494385265 -0.00747208822 0.006 -0.0494385265 -0.00638891902 -0.006 -0.0495901373 -0.00638891902 0.006 -0.0495901373 -0.00536669198 -0.006 -0.0416557153 -0.00536669198 0.006 -0.0416557153"/><mesh name="catch_h17" vertex="-0.00536669198 -0.006 -0.0416557153 -0.00536669198 0.006 -0.0416557153 -0.00638891902 -0.006 -0.0495901373 -0.00638891902 0.006 -0.0495901373 -0.00530269274 -0.006 -0.0497180194 -0.00530269274 0.006 -0.0497180194 -0.0044542619 -0.006 -0.0417631363 -0.0044542619 0.006 -0.0417631363"/><mesh name="catch_h18" vertex="-0.0044542619 -0.006 -0.0417631363 -0.0044542619 0.006 -0.0417631363 -0.00530269274 -0.006 -0.0497180194 -0.00530269274 0.006 -0.0497180194 -0.00421392914 -0.006 -0.0498221116 -0.00421392914 0.006 -0.0498221116 -0.00353970048 -0.006 -0.0418505737 -0.00353970048 0.006 -0.0418505737"/><mesh name="catch_h19" vertex="-0.00353970048 -0.006 -0.0418505737 -0.00353970048 0.006 -0.0418505737 -0.00421392914 -0.006 -0.0498221116 -0.00421392914 0.006 -0.0498221116 -0.00312314919 -0.006 -0.0499023641 -0.00312314919 0.006 -0.0499023641 -0.00262344532 -0.006 -0.0419179858 -0.00262344532 0.006 -0.0419179858"/><mesh name="catch_h20" vertex="-0.00262344532 -0.006 -0.0419179858 -0.00262344532 0.006 -0.0419179858 -0.00312314919 -0.006 -0.0499023641 -0.00312314919 0.006 -0.0499023641 -0.00203087483 -0.006 -0.0499587384 -0.00203087483 0.006 -0.0499587384 -0.00170593486 -0.006 -0.0419653403 -0.00170593486 0.006 -0.0419653403"/><mesh name="catch_h21" vertex="-0.00170593486 -0.006 -0.0419653403 -0.00170593486 0.006 -0.0419653403 -0.00203087483 -0.006 -0.0499587384 -0.00203087483 0.006 -0.0499587384 -0.000937628697 -0.006 -0.0499912078 -0.000937628697 0.006 -0.0499912078 -0.000787608106 -0.006 -0.0419926145 -0.000787608106 0.006 -0.0419926145"/><mesh name="catch_h22" vertex="-0.000787608106 -0.006 -0.0419926145 -0.000787608106 0.006 -0.0419926145 -0.000937628697 -0.006 -0.0499912078 -0.000937628697 0.006 -0.0499912078 0.000156066086 -0.006 -0.0499997564 0.000156066086 0.006 -0.0499997564 0.000131095513 -0.006 -0.0419997954 0.000131095513 0.006 -0.0419997954"/><mesh name="catch_h23" vertex="0.000131095513 -0.006 -0.0419997954 0.000131095513 0.006 -0.0419997954 0.000156066086 -0.006 -0.0499997564 0.000156066086 0.006 -0.0499997564 0.00124968619 -0.006 -0.0499843804 0.00124968619 0.006 -0.0499843804 0.0010497364 -0.006 -0.0419868795 0.0010497364 0.006 -0.0419868795"/><mesh name="catch_h24" vertex="0.0010497364 -0.006 -0.0419868795 0.0010497364 0.006 -0.0419868795 0.00124968619 -0.006 -0.0499843804 0.00124968619 0.006 -0.0499843804 0.00234270833 -0.006 -0.049945087 0.00234270833 0.006 -0.049945087 0.001967875 -0.006 -0.0419538731 0.001967875 0.006 -0.0419538731"/><mesh name="catch_h25" vertex="0.001967875 -0.006 -0.0419538731 0.001967875 0.006 -0.0419538731 0.00234270833 -0.006 -0.049945087 0.00234270833 0.006 -0.049945087 0.00343460949 -0.006 -0.0498818951 0.00343460949 0.006 -0.0498818951 0.00288507197 -0.006 -0.0419007919 0.00288507197 0.006 -0.0419007919"/><mesh name="catch_h26" vertex="0.00288507197 -0.006 -0.0419007919 0.00288507197 0.006 -0.0419007919 0.00343460949 -0.006 -0.0498818951 0.00343460949 0.006 -0.0498818951 0.0045248672 -0.006 -0.0497948348 0.0045248672 0.006 -0.0497948348 0.00380088845 -0.006 -0.0418276613 0.00380088845 0.006 -0.0418276613"/><mesh name="catch_h27" vertex="0.00380088845 -0.006 -0.0418276613 0.00380088845 0.006 -0.0418276613 0.0045248672 -0.006 -0.0497948348 0.0045248672 0.006 -0.0497948348 0.00561295977 -0.006 -0.0496839479 0.00561295977 0.006 -0.0496839479 0.00471488621 -0.006 -0.0417345163 0.00471488621 0.006 -0.0417345163"/><mesh name="catch_h28" vertex="0.00471488621 -0.006 -0.0417345163 0.00471488621 0.006 -0.0417345163 0.00561295977 -0.006 -0.0496839479 0.00561295977 0.006 -0.0496839479 0.00669836657 -0.006 -0.0495492874 0.00669836657 0.006 -0.0495492874 0.00562662792 -0.006 -0.0416214014 0.00562662792 0.006 -0.0416214014"/><mesh name="catch_h29" vertex="0.00562662792 -0.006 -0.0416214014 0.00562662792 0.006 -0.0416214014 0.00669836657 -0.006 -0.0495492874 0.00669836657 0.006 -0.0495492874 0.00778056822 -0.006 -0.0493909178 0.00778056822 0.006 -0.0493909178 0.0065356773 -0.006 -0.0414883709 0.0065356773 0.006 -0.0414883709"/><mesh name="catch_h30" vertex="0.0065356773 -0.006 -0.0414883709 0.0065356773 0.006 -0.0414883709 0.00778056822 -0.006 -0.0493909178 0.00778056822 0.006 -0.0493909178 0.00885904689 -0.006 -0.0492089147 0.00885904689 0.006 -0.0492089147 0.00744159939 -0.006 -0.0413354884 0.00744159939 0.006 -0.0413354884"/><mesh name="catch_h31" vertex="0.00744159939 -0.006 -0.0413354884 0.00744159939 0.006 -0.0413354884 0.00885904689 -0.006 -0.0492089147 0.00885904689 0.006 -0.0492089147 0.00993328654 -0.006 -0.0490033654 0.00993328654 0.006 -0.0490033654 0.00834396069 -0.006 -0.0411628269 0.00834396069 0.006 -0.0411628269"/><mesh name="catch_h32" vertex="-0.007462 -0.006 -0.004162 -0.007462 0.006 -0.004162 -0.04108 -0.006 -0.009243 -0.04108 0.006 -0.009243 -0.041977 -0.006 -0.00331 -0.041977 0.006 -0.00331 -0.008358 -0.006 0.001771 -0.008358 0.006 0.001771"/><mesh name="rod_h0" vertex="-0.026 -0.006 0.018 -0.026 0.006 0.018 -0.005 -0.006 0.018 -0.005 0.006 0.018 -0.005 -0.006 0.03 -0.005 0.006 0.03 -0.026 -0.006 0.03 -0.026 0.006 0.03"/><mesh name="rod_h1" vertex="-0.026 -0.006 0.253818 -0.026 0.006 0.253818 -0.005 -0.006 0.253818 -0.005 0.006 0.253818 -0.005 -0.006 0.265818 -0.005 0.006 0.265818 -0.026 -0.006 0.265818 -0.026 0.006 0.265818"/></asset>
<size memory="64M"/>
<worldbody>
<geom name="guides_r0" type="capsule" fromto="0.11 0 -0.381909 0.11 0 0.329703" size="0.004" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="guides_r1" type="capsule" fromto="0 0.02 0.06 -0.14 0.02 0.06" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="guides_r2" type="capsule" fromto="0 0.02 -0.06 -0.14 0.02 -0.06" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="guides_r3" type="capsule" fromto="-0.14 0.02 0.09 -0.14 0.02 -0.381909" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="guides_r4" type="capsule" fromto="-0.02 0.02 0 -0.14 0.02 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="guides_r5" type="capsule" fromto="0.019596 0.02 -0.006 0.074596 0.02 -0.006" size="0.0025" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="handle_u" pos="0 0 0.06"><joint name="j_U" type="hinge" axis="0 -1 0" damping="0.01" frictionloss="0" range="-0.36 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.4" springref="0.45"/><inertial pos="0.004712535104 -0.001908010767 -0.0005270167428" mass="0.0567854542" fullinertia="0.00001749619198 0.0001119863005 0.00009861289818 -0.000006254171951 -0.000008145339824 2.649654002e-7"/><geom name="handle_u_h0" type="mesh" mesh="handle_u_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="handle_u_h1" type="mesh" mesh="handle_u_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="handle_u_h2" type="mesh" mesh="handle_u_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="handle_l" pos="0 0 -0.06"><joint name="j_L" type="hinge" axis="0 -1 0" damping="0.01" frictionloss="0" range="-0.15 0.21" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.4" springref="-0.6"/><inertial pos="0.004581164619 -0.001907997461 0.001225285946" mass="0.05678594329" fullinertia="0.00001690037235 0.0001119875276 0.00009920996307 -0.000006144413654 -0.00000420440239 -0.000001196599914"/><geom name="handle_l_h0" type="mesh" mesh="handle_l_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="handle_l_h1" type="mesh" mesh="handle_l_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="handle_l_h2" type="mesh" mesh="handle_l_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="catch" pos="-0.02 0 0"><joint name="j_catch" type="hinge" axis="0 -1 0" damping="0.005" frictionloss="0" range="-0.3 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.005571395503 0.002539690401 -0.0008420015976" mass="0.03997834625" fullinertia="0.00002509090477 0.00002896894338 0.000006502279904 -4.564394183e-7 0.000002875054139 -6.899460372e-8"/><geom name="catch_h0" type="mesh" mesh="catch_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="catch_h1" type="mesh" mesh="catch_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="catch_h2" type="mesh" mesh="catch_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="catch_h3" type="mesh" mesh="catch_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="catch_h4" type="mesh" mesh="catch_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="catch_h5" type="mesh" mesh="catch_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="catch_h6" type="mesh" mesh="catch_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="catch_h7" type="mesh" mesh="catch_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="catch_h8" type="mesh" mesh="catch_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="catch_h9" type="mesh" mesh="catch_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="catch_h10" type="mesh" mesh="catch_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="catch_h11" type="mesh" mesh="catch_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="catch_h12" type="mesh" mesh="catch_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="catch_h13" type="mesh" mesh="catch_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="catch_h14" type="mesh" mesh="catch_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="catch_h15" type="mesh" mesh="catch_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="catch_h16" type="mesh" mesh="catch_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="catch_h17" type="mesh" mesh="catch_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="catch_h18" type="mesh" mesh="catch_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="catch_h19" type="mesh" mesh="catch_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="catch_h20" type="mesh" mesh="catch_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="catch_h21" type="mesh" mesh="catch_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="catch_h22" type="mesh" mesh="catch_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="catch_h23" type="mesh" mesh="catch_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="catch_h24" type="mesh" mesh="catch_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="catch_h25" type="mesh" mesh="catch_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="catch_h26" type="mesh" mesh="catch_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="catch_h27" type="mesh" mesh="catch_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="catch_h28" type="mesh" mesh="catch_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="catch_h29" type="mesh" mesh="catch_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="catch_h30" type="mesh" mesh="catch_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="catch_h31" type="mesh" mesh="catch_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="catch_h32" type="mesh" mesh="catch_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"/><body name="toglink" pos="0.019775 0 0.002989"><joint name="j_tog" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.0124105 0.014 -0.0014945" mass="0.001325376537" fullinertia="5.098955954e-9 7.110271387e-8 7.014555959e-8 0 7.948319262e-9 0"/></body>
</body>
<body name="plunger" pos="0.024596 0 0"><joint name="j_plunger" type="slide" axis="1 0 0" damping="0.5" frictionloss="0" stiffness="600" springref="-0.05"/><inertial pos="0.02851413882 0.014 0" mass="0.006599229528" fullinertia="6.047243845e-8 0.000001424791492 0.000001415834183 0 0 0"/></body>
<body name="crank" pos="0.1 0 -0.281909"><joint name="j_crank" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.0002197129701 0.01998388335 0.0002358457406" mass="1.021736409" fullinertia="0.001333159473 0.002653811125 0.001331769203 -6.698482157e-7 0.000009802335506 7.190328749e-7"/><body name="conrod" pos="-0.040898 0 0.043901"><joint name="j_con" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.020449 0.01 0.0669465" mass="0.01900034357" fullinertia="0.00002846794834 0.00003110986714 0.00000279392155 0 -0.000008649186611 0"/></body>
</body>
<body name="rod" pos="0.1 0 -0.104115"><joint name="j_rod" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="-0.00220542152 0 0.141909" mass="0.331548048" fullinertia="0.002847823023 0.002857668925 0.0000178030545 0 0 0"/><geom name="rod_h0" type="mesh" mesh="rod_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="rod_h1" type="mesh" mesh="rod_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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><connect name="p_tog" body1="toglink" body2="plunger" anchor="0.024821 0 -0.002989" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod" body1="conrod" body2="rod" anchor="0.040898 0 0.133893" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="toglink" body2="plunger"/><exclude body1="conrod" body2="rod"/></contact>
<actuator><velocity name="drive" joint="j_crank" kv="2" forcerange="-12 12"/></actuator>
</mujoco>
