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<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="-0.18 0.15" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.4" springref="0.6"/><inertial pos="-0.005492684893 0.0003801162211 -0.00926254788" mass="0.08859623959" fullinertia="0.00005381058281 0.0001837512445 0.0001382186876 -0.000001744231848 -0.00002985814556 0.000005893307254"/><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"/><geom name="handle_u_h3" type="mesh" mesh="handle_u_h3" 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_h4" type="mesh" mesh="handle_u_h4" 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_h5" type="mesh" mesh="handle_u_h5" 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_h6" type="mesh" mesh="handle_u_h6" 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_h7" type="mesh" mesh="handle_u_h7" 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_h8" type="mesh" mesh="handle_u_h8" 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_h9" type="mesh" mesh="handle_u_h9" 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_h10" type="mesh" mesh="handle_u_h10" 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_h11" type="mesh" mesh="handle_u_h11" 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_h12" type="mesh" mesh="handle_u_h12" 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_h13" type="mesh" mesh="handle_u_h13" 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_h14" type="mesh" mesh="handle_u_h14" 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_h15" type="mesh" mesh="handle_u_h15" 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_h16" type="mesh" mesh="handle_u_h16" 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_h17" type="mesh" mesh="handle_u_h17" 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 0.33" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.4" springref="-0.45"/><inertial pos="-0.004047060807 0.0003801194596 0.009979418419" mass="0.08859571009" fullinertia="0.00006451893966 0.0001837491716 0.0001275082381 -0.000002605303829 0.00004099630001 -0.000005566464351"/><geom name="handle_l_h0" type="mesh" mesh="handle_l_h0" contype="16" conaffinity="8" 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="16" conaffinity="8" 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="16" conaffinity="8" 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_h3" type="mesh" mesh="handle_l_h3" contype="16" conaffinity="8" 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_h4" type="mesh" mesh="handle_l_h4" contype="16" conaffinity="8" 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_h5" type="mesh" mesh="handle_l_h5" contype="16" conaffinity="8" 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_h6" type="mesh" mesh="handle_l_h6" contype="16" conaffinity="8" 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_h7" type="mesh" mesh="handle_l_h7" contype="16" conaffinity="8" 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_h8" type="mesh" mesh="handle_l_h8" contype="16" conaffinity="8" 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_h9" type="mesh" mesh="handle_l_h9" contype="16" conaffinity="8" 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_h10" type="mesh" mesh="handle_l_h10" contype="16" conaffinity="8" 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_h11" type="mesh" mesh="handle_l_h11" contype="16" conaffinity="8" 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_h12" type="mesh" mesh="handle_l_h12" contype="16" conaffinity="8" 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_h13" type="mesh" mesh="handle_l_h13" contype="16" conaffinity="8" 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_h14" type="mesh" mesh="handle_l_h14" contype="16" conaffinity="8" 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_h15" type="mesh" mesh="handle_l_h15" contype="16" conaffinity="8" 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_h16" type="mesh" mesh="handle_l_h16" contype="16" conaffinity="8" 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_h17" type="mesh" mesh="handle_l_h17" contype="16" conaffinity="8" 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="crank" pos="0.1 0 -0.284354"><joint name="j_crank" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.0002712325403 0.01998388335 -0.0001741565618" mass="1.021736409" fullinertia="0.001328374922 0.002653811237 0.001336553866 8.269181064e-7 0.000008935677057 -5.309584688e-7"/><body name="conrod" pos="0.050488 0 -0.032418"><joint name="j_con" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.025244 0.01 0.0652895" mass="0.01900031039" fullinertia="0.00002708354563 0.0000311097044 0.000004178161246 0 0.00001041300478 0"/></body>
</body>
<body name="rod" pos="0.1 0 -0.186193"><joint name="j_rod" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="-0.002175390133 0 0.144354" mass="0.336125088" fullinertia="0.002982690002 0.00299254108 0.00001791808003 0 0 0"/><geom name="rod_h0" type="mesh" mesh="rod_h0" contype="8" conaffinity="16" 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_rod" body1="conrod" body2="rod" anchor="-0.050488 0 0.130579" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="rod"/></contact>
<actuator><velocity name="drive" joint="j_crank" kv="2" forcerange="-12 12"/></actuator>
</mujoco>
