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<geom name="chest_r1" type="capsule" fromto="-0.811545 0.026 0.026 -0.641545 0.026 0.026" size="0.005" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="chest_r2" type="capsule" fromto="-0.541545 0.026 -0.01 -0.501545 0.026 -0.01" size="0.0035" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="chest_r3" type="capsule" fromto="-0.59 0.034 0.15 -0.59 0.034 -0.22" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="chest_r4" type="capsule" fromto="0 0.055 0 0 0.055 -0.22" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="shaft" pos="0 0 0"><joint name="j_shaft" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.001526963566 -0.00109002227 0" mass="2.741966233" fullinertia="0.004288390145 0.004502126387 0.003890446071 -0.0004563974848 0 0.0008966085617"/><body name="rod_f" pos="-0.010261 0 0.028191"><joint name="j_rf" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.141291711 -0.01833747401 -0.002529810384" mass="0.1805956437" fullinertia="0.000133521232 0.004428623308 0.004299951419 0.00005362900934 -0.00007462407142 9.602320393e-7"/><body name="link" pos="-0.449927 0 -0.008056"><joint name="j_link" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.002106459194 -0.000174595524 -0.07002140543" mass="0.1428327709" fullinertia="0.0004935490268 0.0005138895462 0.00002419457723 -1.893654005e-7 0.00003139170325 -1.244224543e-8"/><geom name="link_h0" type="mesh" mesh="link_h0" contype="8" conaffinity="16" 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solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="link_h6" type="mesh" mesh="link_h6" 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"/><geom name="link_h7" type="mesh" mesh="link_h7" 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"/><geom name="link_h8" type="mesh" mesh="link_h8" 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"/><geom name="link_h9" type="mesh" mesh="link_h9" 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"/><geom name="link_h10" type="mesh" mesh="link_h10" 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"/><geom name="link_h11" type="mesh" mesh="link_h11" 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"/><geom name="link_h12" type="mesh" mesh="link_h12" 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"/><geom name="link_h13" type="mesh" mesh="link_h13" 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"/><geom name="link_h14" type="mesh" mesh="link_h14" 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"/><geom name="link_h15" type="mesh" mesh="link_h15" 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"/><geom name="link_h16" type="mesh" mesh="link_h16" 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"/><geom name="link_h17" type="mesh" mesh="link_h17" 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"/><geom name="link_h18" type="mesh" mesh="link_h18" 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"/><geom name="link_h19" type="mesh" mesh="link_h19" 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"/><geom name="link_h20" type="mesh" mesh="link_h20" 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"/><geom name="link_h21" type="mesh" mesh="link_h21" 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"/><geom name="link_h22" type="mesh" mesh="link_h22" 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"/><geom name="link_h23" type="mesh" mesh="link_h23" 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"/><geom name="link_h24" type="mesh" mesh="link_h24" 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"/><geom name="link_h25" type="mesh" mesh="link_h25" 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"/><geom name="link_h26" type="mesh" mesh="link_h26" 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"/><geom name="link_h27" type="mesh" mesh="link_h27" 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"/><geom name="link_h28" type="mesh" mesh="link_h28" 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"/><geom name="link_h29" type="mesh" mesh="link_h29" 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"/><geom name="link_h30" type="mesh" mesh="link_h30" 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"/><geom name="link_h31" type="mesh" mesh="link_h31" 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"/><geom name="link_h32" type="mesh" mesh="link_h32" 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"/><geom name="link_h33" type="mesh" mesh="link_h33" 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"/><geom name="link_h34" type="mesh" mesh="link_h34" 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"/><geom name="link_h35" type="mesh" mesh="link_h35" 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"/><geom name="link_h36" type="mesh" mesh="link_h36" 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"/><geom name="link_h37" type="mesh" mesh="link_h37" 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"/><geom name="link_h38" type="mesh" mesh="link_h38" 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"/><geom name="link_h39" type="mesh" mesh="link_h39" 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"/><geom name="link_h40" type="mesh" mesh="link_h40" 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"/><geom name="link_h41" type="mesh" mesh="link_h41" 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"/><geom name="link_h42" type="mesh" mesh="link_h42" 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"/><geom name="link_h43" type="mesh" mesh="link_h43" 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"/><geom name="link_h44" type="mesh" mesh="link_h44" 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"/><geom name="link_h45" type="mesh" mesh="link_h45" 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"/><geom name="link_h46" type="mesh" mesh="link_h46" 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"/><geom name="link_h47" type="mesh" mesh="link_h47" 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>
<body name="rod_b" pos="-0.010261 0 -0.028191"><joint name="j_rb" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.1383885119 0.0169516545 -0.02869518468" mass="0.1806237226" fullinertia="0.0003057339379 0.004429353267 0.00413178328 -0.00009630507509 -0.0008289821285 -0.00001996907575"/></body>
</body>
<body name="arm" pos="-0.59 0 0.15"><joint name="j_arm" type="hinge" axis="0 -1 0" damping="3" frictionloss="0" range="-0.9 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="300" springref="0"/><inertial pos="0.009667385222 -0.02452929775 0.02564557264" mass="0.1146127697" fullinertia="0.0004010595097 0.0006961002702 0.0003029033438 -0.00002156061823 0.0003011077732 0.00002759353927"/><body name="hanger" pos="0.129224 0 -0.053863"><joint name="j_hanger" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.0125865 -0.014 -0.073936" mass="0.025764877" fullinertia="0.00004708228391 0.0000484391675 0.000001617752963 0 -0.000007970646695 0"/></body>
</body>
<body name="valve" pos="-0.461545 0 0"><joint name="j_valve" type="slide" axis="1 0 0" damping="0.3" frictionloss="0" range="-0.08 0.08" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.2039349884 0.002171521174 0" mass="0.4524500336" fullinertia="0.00005416914689 0.002698967198 0.002708722777 -0.00009229157958 0 0"/><geom name="valve_h0" type="mesh" mesh="valve_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"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="p_rod_b" body1="rod_b" body2="link" anchor="-0.440627 0 -0.091365" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_hanger" body1="hanger" body2="link" anchor="-0.025173 0 -0.147872" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_b" body2="link"/><exclude body1="hanger" body2="link"/></contact>
<actuator><velocity name="drive" joint="j_shaft" kv="3" forcerange="-12 12"/></actuator>
</mujoco>
