<mujoco model="261-combination-weight-movement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="weight_w" pos="0.2275 0 0.005"><joint name="j_w" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.06 0.226853"/><inertial pos="0 0 0" mass="0.5" diaginertia="0.0006111666667 0.0006726666667 0.0006111666667"/><geom name="weight_w_g" type="box" size="0.032 0.032 0.05" contype="0" conaffinity="0" group="2" mass="0"/></body>
<body name="disk_b" pos="0.162 0 0" quat="1 0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.02852321976 0" mass="1.129013236" fullinertia="0.0005937217844 0.0003355921059 0.0005937217844 0 0 0"/><body name="drum_w" pos="0 0 0" quat="1 0 0 0"><geom name="drum_w_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.008" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_w_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.007 0" size="0.014" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="drum_w_flangeR" type="cylinder" fromto="0 0.005 0 0 0.007 0" size="0.014" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="disk_w" pos="0 -0.04 0" quat="1 0 0 0"><geom name="disk_w_rim" condim="3" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.032" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<geom name="axle" type="capsule" fromto="0 -0.044 0 0 0.03 0" size="0.004" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="rod_c" pos="0 0 -0.02"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.0293776755 -0.048 0.1516267122" mass="0.2" fullinertia="0.001872210001 0.001942466836 0.00007188474586 0 0.0003624178443 0"/></body>
</body>
<body name="arm_a" pos="0 0 0.3"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.06561261639 -0.0007216358581 0" mass="0.4" fullinertia="0.0001387382574 0.001906539072 0.002026056954 0.000009926067631 0 0"/><body name="pul_e" pos="0.2 0 0"><joint name="j_e" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.2" diaginertia="0.00003551666667 0.00005 0.00003551666667"/><geom name="pul_e_rim" condim="3" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.025" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="pul_e_flangeL" type="cylinder" fromto="0 -0.008 0 0 -0.0104 0" size="0.03" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="pul_e_flangeR" type="cylinder" fromto="0 0.008 0 0 0.0104 0" size="0.03" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
</body>
<body name="frame" pos="0 0 0"></body>
<body name="cord_d_l000" pos="0.1725 0 0" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="cord_d_root"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l000_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l001" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l001_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l002" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l002_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l003" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l003_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l004" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l004_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l005" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l005_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l006" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l006_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l007" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l007_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l008" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l008_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l009" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l009_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l009_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l010" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l010_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l010_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l011" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l011_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l011_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l012" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l012_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l013" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l013_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l014" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l014_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l015" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l015_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l016" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l016_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l017" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l017_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l018" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l018_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l018_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l019" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l019_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l020" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l020_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l020_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l021" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l021_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l021_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l022" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l022_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l022_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l023" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l023_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l023_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="cord_d_l056" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l056_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l056_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l057" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l057_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l057_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l058" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l058_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l058_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l059" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l059_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l059_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l060" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l060_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l060_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l061" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l061_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l061_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l062" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l062_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l062_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l063" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l063_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l063_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l064" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l064_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l064_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l065" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l065_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l065_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l066" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l066_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l066_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l067" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l067_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l067_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l068" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l068_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l068_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l069" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l069_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l069_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l070" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l070_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l070_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l070_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l071" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l071_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l071_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l071_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l072" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l072_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l072_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l072_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l073" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l073_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l073_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l073_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l074" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l074_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l074_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l074_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l075" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l075_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l075_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l075_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l076" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l076_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l076_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l076_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l077" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l077_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l077_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l077_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l078" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l078_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l078_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l078_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="cord_d_l079" pos="0.008152187676 0 0" quat="1 0 0 0"><joint name="cord_d_l079_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.000122625" damping="12"/><joint name="cord_d_l079_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004076093838 0 0" mass="0.0002239904081" diaginertia="6.999700254e-10 1.590484284e-9 1.590484284e-9"/><geom name="cord_d_l079_c" type="capsule" fromto="0 0 0 0.008152187676 0 0" size="0.0025" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_a" body1="rod_c" body2="arm_a" anchor="-0.062 0 0.32" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="cord_d_eyeA" body1="cord_d_l000" body2="disk_b" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord_d_eyeB" body1="cord_d_l079" body2="weight_w" anchor="0.008152187676 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rod_c" body2="arm_a"/><exclude body1="cord_d_l000" body2="disk_b"/><exclude body1="cord_d_l079" body2="weight_w"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="40" forcerange="-10 10"/></actuator>
</mujoco>
