<mujoco model="271-two-pawl-lever-ratchet-bar">
<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="bar_h0" vertex="-0.19 -0.006 0.01 -0.19 0.006 0.01 -0.187 -0.006 0.012 -0.187 0.006 0.012 -0.187 -0.006 0.01 -0.187 0.006 0.01"/><mesh name="bar_h1" vertex="-0.187 -0.006 0.01 -0.187 0.006 0.01 -0.184 -0.006 0.012 -0.184 0.006 0.012 -0.184 -0.006 0.01 -0.184 0.006 0.01"/><mesh name="bar_h2" vertex="-0.184 -0.006 0.01 -0.184 0.006 0.01 -0.181 -0.006 0.012 -0.181 0.006 0.012 -0.181 -0.006 0.01 -0.181 0.006 0.01"/><mesh name="bar_h3" vertex="-0.181 -0.006 0.01 -0.181 0.006 0.01 -0.178 -0.006 0.012 -0.178 0.006 0.012 -0.178 -0.006 0.01 -0.178 0.006 0.01"/><mesh name="bar_h4" vertex="-0.178 -0.006 0.01 -0.178 0.006 0.01 -0.175 -0.006 0.012 -0.175 0.006 0.012 -0.175 -0.006 0.01 -0.175 0.006 0.01"/><mesh name="bar_h5" vertex="-0.175 -0.006 0.01 -0.175 0.006 0.01 -0.172 -0.006 0.012 -0.172 0.006 0.012 -0.172 -0.006 0.01 -0.172 0.006 0.01"/><mesh name="bar_h6" vertex="-0.172 -0.006 0.01 -0.172 0.006 0.01 -0.169 -0.006 0.012 -0.169 0.006 0.012 -0.169 -0.006 0.01 -0.169 0.006 0.01"/><mesh name="bar_h7" vertex="-0.169 -0.006 0.01 -0.169 0.006 0.01 -0.166 -0.006 0.012 -0.166 0.006 0.012 -0.166 -0.006 0.01 -0.166 0.006 0.01"/><mesh name="bar_h8" vertex="-0.166 -0.006 0.01 -0.166 0.006 0.01 -0.163 -0.006 0.012 -0.163 0.006 0.012 -0.163 -0.006 0.01 -0.163 0.006 0.01"/><mesh name="bar_h9" vertex="-0.163 -0.006 0.01 -0.163 0.006 0.01 -0.16 -0.006 0.012 -0.16 0.006 0.012 -0.16 -0.006 0.01 -0.16 0.006 0.01"/><mesh name="bar_h10" vertex="-0.16 -0.006 0.01 -0.16 0.006 0.01 -0.157 -0.006 0.012 -0.157 0.006 0.012 -0.157 -0.006 0.01 -0.157 0.006 0.01"/><mesh name="bar_h11" vertex="-0.157 -0.006 0.01 -0.157 0.006 0.01 -0.154 -0.006 0.012 -0.154 0.006 0.012 -0.154 -0.006 0.01 -0.154 0.006 0.01"/><mesh name="bar_h12" vertex="-0.154 -0.006 0.01 -0.154 0.006 0.01 -0.151 -0.006 0.012 -0.151 0.006 0.012 -0.151 -0.006 0.01 -0.151 0.006 0.01"/><mesh name="bar_h13" vertex="-0.151 -0.006 0.01 -0.151 0.006 0.01 -0.148 -0.006 0.012 -0.148 0.006 0.012 -0.148 -0.006 0.01 -0.148 0.006 0.01"/><mesh name="bar_h14" vertex="-0.148 -0.006 0.01 -0.148 0.006 0.01 -0.145 -0.006 0.012 -0.145 0.006 0.012 -0.145 -0.006 0.01 -0.145 0.006 0.01"/><mesh name="bar_h15" vertex="-0.145 -0.006 0.01 -0.145 0.006 0.01 -0.142 -0.006 0.012 -0.142 0.006 0.012 -0.142 -0.006 0.01 -0.142 0.006 0.01"/><mesh name="bar_h16" vertex="-0.142 -0.006 0.01 -0.142 0.006 0.01 -0.139 -0.006 0.012 -0.139 0.006 0.012 -0.139 -0.006 0.01 -0.139 0.006 0.01"/><mesh name="bar_h17" vertex="-0.139 -0.006 0.01 -0.139 0.006 0.01 -0.136 -0.006 0.012 -0.136 0.006 0.012 -0.136 -0.006 0.01 -0.136 0.006 0.01"/><mesh name="bar_h18" vertex="-0.136 -0.006 0.01 -0.136 0.006 0.01 -0.133 -0.006 0.012 -0.133 0.006 0.012 -0.133 -0.006 0.01 -0.133 0.006 0.01"/><mesh name="bar_h19" vertex="-0.133 -0.006 0.01 -0.133 0.006 0.01 -0.13 -0.006 0.012 -0.13 0.006 0.012 -0.13 -0.006 0.01 -0.13 0.006 0.01"/><mesh name="bar_h20" vertex="-0.13 -0.006 0.01 -0.13 0.006 0.01 -0.127 -0.006 0.012 -0.127 0.006 0.012 -0.127 -0.006 0.01 -0.127 0.006 0.01"/><mesh name="bar_h21" vertex="-0.127 -0.006 0.01 -0.127 0.006 0.01 -0.124 -0.006 0.012 -0.124 0.006 0.012 -0.124 -0.006 0.01 -0.124 0.006 0.01"/><mesh name="bar_h22" vertex="-0.124 -0.006 0.01 -0.124 0.006 0.01 -0.121 -0.006 0.012 -0.121 0.006 0.012 -0.121 -0.006 0.01 -0.121 0.006 0.01"/><mesh name="bar_h23" vertex="-0.121 -0.006 0.01 -0.121 0.006 0.01 -0.118 -0.006 0.012 -0.118 0.006 0.012 -0.118 -0.006 0.01 -0.118 0.006 0.01"/><mesh name="bar_h24" vertex="-0.118 -0.006 0.01 -0.118 0.006 0.01 -0.115 -0.006 0.012 -0.115 0.006 0.012 -0.115 -0.006 0.01 -0.115 0.006 0.01"/><mesh name="bar_h25" vertex="-0.115 -0.006 0.01 -0.115 0.006 0.01 -0.112 -0.006 0.012 -0.112 0.006 0.012 -0.112 -0.006 0.01 -0.112 0.006 0.01"/><mesh name="bar_h26" vertex="-0.112 -0.006 0.01 -0.112 0.006 0.01 -0.109 -0.006 0.012 -0.109 0.006 0.012 -0.109 -0.006 0.01 -0.109 0.006 0.01"/><mesh name="bar_h27" vertex="-0.109 -0.006 0.01 -0.109 0.006 0.01 -0.106 -0.006 0.012 -0.106 0.006 0.012 -0.106 -0.006 0.01 -0.106 0.006 0.01"/><mesh name="bar_h28" vertex="-0.106 -0.006 0.01 -0.106 0.006 0.01 -0.103 -0.006 0.012 -0.103 0.006 0.012 -0.103 -0.006 0.01 -0.103 0.006 0.01"/><mesh name="bar_h29" vertex="-0.103 -0.006 0.01 -0.103 0.006 0.01 -0.1 -0.006 0.012 -0.1 0.006 0.012 -0.1 -0.006 0.01 -0.1 0.006 0.01"/><mesh name="bar_h30" vertex="-0.1 -0.006 0.01 -0.1 0.006 0.01 -0.097 -0.006 0.012 -0.097 0.006 0.012 -0.097 -0.006 0.01 -0.097 0.006 0.01"/><mesh name="bar_h31" vertex="-0.097 -0.006 0.01 -0.097 0.006 0.01 -0.094 -0.006 0.012 -0.094 0.006 0.012 -0.094 -0.006 0.01 -0.094 0.006 0.01"/><mesh name="bar_h32" vertex="-0.094 -0.006 0.01 -0.094 0.006 0.01 -0.091 -0.006 0.012 -0.091 0.006 0.012 -0.091 -0.006 0.01 -0.091 0.006 0.01"/><mesh name="bar_h33" vertex="-0.091 -0.006 0.01 -0.091 0.006 0.01 -0.088 -0.006 0.012 -0.088 0.006 0.012 -0.088 -0.006 0.01 -0.088 0.006 0.01"/><mesh name="bar_h34" vertex="-0.088 -0.006 0.01 -0.088 0.006 0.01 -0.085 -0.006 0.012 -0.085 0.006 0.012 -0.085 -0.006 0.01 -0.085 0.006 0.01"/><mesh name="bar_h35" vertex="-0.085 -0.006 0.01 -0.085 0.006 0.01 -0.082 -0.006 0.012 -0.082 0.006 0.012 -0.082 -0.006 0.01 -0.082 0.006 0.01"/><mesh name="bar_h36" vertex="-0.082 -0.006 0.01 -0.082 0.006 0.01 -0.079 -0.006 0.012 -0.079 0.006 0.012 -0.079 -0.006 0.01 -0.079 0.006 0.01"/><mesh name="bar_h37" vertex="-0.079 -0.006 0.01 -0.079 0.006 0.01 -0.076 -0.006 0.012 -0.076 0.006 0.012 -0.076 -0.006 0.01 -0.076 0.006 0.01"/><mesh name="bar_h38" vertex="-0.076 -0.006 0.01 -0.076 0.006 0.01 -0.073 -0.006 0.012 -0.073 0.006 0.012 -0.073 -0.006 0.01 -0.073 0.006 0.01"/><mesh name="bar_h39" vertex="-0.073 -0.006 0.01 -0.073 0.006 0.01 -0.07 -0.006 0.012 -0.07 0.006 0.012 -0.07 -0.006 0.01 -0.07 0.006 0.01"/><mesh name="bar_h40" vertex="-0.07 -0.006 0.01 -0.07 0.006 0.01 -0.067 -0.006 0.012 -0.067 0.006 0.012 -0.067 -0.006 0.01 -0.067 0.006 0.01"/><mesh name="bar_h41" vertex="-0.067 -0.006 0.01 -0.067 0.006 0.01 -0.064 -0.006 0.012 -0.064 0.006 0.012 -0.064 -0.006 0.01 -0.064 0.006 0.01"/><mesh name="bar_h42" vertex="-0.064 -0.006 0.01 -0.064 0.006 0.01 -0.061 -0.006 0.012 -0.061 0.006 0.012 -0.061 -0.006 0.01 -0.061 0.006 0.01"/><mesh name="bar_h43" vertex="-0.061 -0.006 0.01 -0.061 0.006 0.01 -0.058 -0.006 0.012 -0.058 0.006 0.012 -0.058 -0.006 0.01 -0.058 0.006 0.01"/><mesh name="bar_h44" vertex="-0.058 -0.006 0.01 -0.058 0.006 0.01 -0.055 -0.006 0.012 -0.055 0.006 0.012 -0.055 -0.006 0.01 -0.055 0.006 0.01"/><mesh name="bar_h45" vertex="-0.055 -0.006 0.01 -0.055 0.006 0.01 -0.052 -0.006 0.012 -0.052 0.006 0.012 -0.052 -0.006 0.01 -0.052 0.006 0.01"/><mesh name="bar_h46" vertex="-0.052 -0.006 0.01 -0.052 0.006 0.01 -0.049 -0.006 0.012 -0.049 0.006 0.012 -0.049 -0.006 0.01 -0.049 0.006 0.01"/><mesh name="bar_h47" vertex="-0.049 -0.006 0.01 -0.049 0.006 0.01 -0.046 -0.006 0.012 -0.046 0.006 0.012 -0.046 -0.006 0.01 -0.046 0.006 0.01"/><mesh name="bar_h48" vertex="-0.046 -0.006 0.01 -0.046 0.006 0.01 -0.043 -0.006 0.012 -0.043 0.006 0.012 -0.043 -0.006 0.01 -0.043 0.006 0.01"/><mesh name="bar_h49" vertex="-0.043 -0.006 0.01 -0.043 0.006 0.01 -0.04 -0.006 0.012 -0.04 0.006 0.012 -0.04 -0.006 0.01 -0.04 0.006 0.01"/><mesh name="bar_h50" vertex="-0.04 -0.006 0.01 -0.04 0.006 0.01 -0.037 -0.006 0.012 -0.037 0.006 0.012 -0.037 -0.006 0.01 -0.037 0.006 0.01"/><mesh name="bar_h51" vertex="-0.037 -0.006 0.01 -0.037 0.006 0.01 -0.034 -0.006 0.012 -0.034 0.006 0.012 -0.034 -0.006 0.01 -0.034 0.006 0.01"/><mesh name="bar_h52" vertex="-0.034 -0.006 0.01 -0.034 0.006 0.01 -0.031 -0.006 0.012 -0.031 0.006 0.012 -0.031 -0.006 0.01 -0.031 0.006 0.01"/><mesh name="bar_h53" vertex="-0.031 -0.006 0.01 -0.031 0.006 0.01 -0.028 -0.006 0.012 -0.028 0.006 0.012 -0.028 -0.006 0.01 -0.028 0.006 0.01"/><mesh name="bar_h54" vertex="-0.028 -0.006 0.01 -0.028 0.006 0.01 -0.025 -0.006 0.012 -0.025 0.006 0.012 -0.025 -0.006 0.01 -0.025 0.006 0.01"/><mesh name="bar_h55" vertex="-0.025 -0.006 0.01 -0.025 0.006 0.01 -0.022 -0.006 0.012 -0.022 0.006 0.012 -0.022 -0.006 0.01 -0.022 0.006 0.01"/><mesh name="bar_h56" vertex="-0.022 -0.006 0.01 -0.022 0.006 0.01 -0.019 -0.006 0.012 -0.019 0.006 0.012 -0.019 -0.006 0.01 -0.019 0.006 0.01"/><mesh name="bar_h57" vertex="-0.019 -0.006 0.01 -0.019 0.006 0.01 -0.016 -0.006 0.012 -0.016 0.006 0.012 -0.016 -0.006 0.01 -0.016 0.006 0.01"/><mesh name="bar_h58" vertex="-0.016 -0.006 0.01 -0.016 0.006 0.01 -0.013 -0.006 0.012 -0.013 0.006 0.012 -0.013 -0.006 0.01 -0.013 0.006 0.01"/><mesh name="bar_h59" vertex="-0.013 -0.006 0.01 -0.013 0.006 0.01 -0.01 -0.006 0.012 -0.01 0.006 0.012 -0.01 -0.006 0.01 -0.01 0.006 0.01"/><mesh name="bar_h60" vertex="-0.01 -0.006 0.01 -0.01 0.006 0.01 -0.007 -0.006 0.012 -0.007 0.006 0.012 -0.007 -0.006 0.01 -0.007 0.006 0.01"/><mesh name="bar_h61" vertex="-0.007 -0.006 0.01 -0.007 0.006 0.01 -0.004 -0.006 0.012 -0.004 0.006 0.012 -0.004 -0.006 0.01 -0.004 0.006 0.01"/><mesh name="bar_h62" vertex="-0.004 -0.006 0.01 -0.004 0.006 0.01 -0.001 -0.006 0.012 -0.001 0.006 0.012 -0.001 -0.006 0.01 -0.001 0.006 0.01"/><mesh name="bar_h63" vertex="-0.001 -0.006 0.01 -0.001 0.006 0.01 0.002 -0.006 0.012 0.002 0.006 0.012 0.002 -0.006 0.01 0.002 0.006 0.01"/><mesh name="bar_h64" vertex="0.002 -0.006 0.01 0.002 0.006 0.01 0.005 -0.006 0.012 0.005 0.006 0.012 0.005 -0.006 0.01 0.005 0.006 0.01"/><mesh name="bar_h65" vertex="0.005 -0.006 0.01 0.005 0.006 0.01 0.008 -0.006 0.012 0.008 0.006 0.012 0.008 -0.006 0.01 0.008 0.006 0.01"/><mesh name="bar_h66" vertex="0.008 -0.006 0.01 0.008 0.006 0.01 0.011 -0.006 0.012 0.011 0.006 0.012 0.011 -0.006 0.01 0.011 0.006 0.01"/><mesh name="bar_h67" vertex="0.011 -0.006 0.01 0.011 0.006 0.01 0.014 -0.006 0.012 0.014 0.006 0.012 0.014 -0.006 0.01 0.014 0.006 0.01"/><mesh name="bar_h68" vertex="0.014 -0.006 0.01 0.014 0.006 0.01 0.017 -0.006 0.012 0.017 0.006 0.012 0.017 -0.006 0.01 0.017 0.006 0.01"/><mesh name="bar_h69" vertex="0.017 -0.006 0.01 0.017 0.006 0.01 0.02 -0.006 0.012 0.02 0.006 0.012 0.02 -0.006 0.01 0.02 0.006 0.01"/><mesh name="bar_h70" vertex="0.02 -0.006 0.01 0.02 0.006 0.01 0.023 -0.006 0.012 0.023 0.006 0.012 0.023 -0.006 0.01 0.023 0.006 0.01"/><mesh name="bar_h71" vertex="0.023 -0.006 0.01 0.023 0.006 0.01 0.026 -0.006 0.012 0.026 0.006 0.012 0.026 -0.006 0.01 0.026 0.006 0.01"/><mesh name="bar_h72" vertex="0.026 -0.006 0.01 0.026 0.006 0.01 0.029 -0.006 0.012 0.029 0.006 0.012 0.029 -0.006 0.01 0.029 0.006 0.01"/><mesh name="bar_h73" vertex="0.029 -0.006 0.01 0.029 0.006 0.01 0.032 -0.006 0.012 0.032 0.006 0.012 0.032 -0.006 0.01 0.032 0.006 0.01"/><mesh name="bar_h74" vertex="0.032 -0.006 0.01 0.032 0.006 0.01 0.035 -0.006 0.012 0.035 0.006 0.012 0.035 -0.006 0.01 0.035 0.006 0.01"/><mesh name="bar_h75" vertex="0.035 -0.006 0.01 0.035 0.006 0.01 0.038 -0.006 0.012 0.038 0.006 0.012 0.038 -0.006 0.01 0.038 0.006 0.01"/><mesh name="bar_h76" vertex="0.038 -0.006 0.01 0.038 0.006 0.01 0.041 -0.006 0.012 0.041 0.006 0.012 0.041 -0.006 0.01 0.041 0.006 0.01"/><mesh name="bar_h77" vertex="0.041 -0.006 0.01 0.041 0.006 0.01 0.044 -0.006 0.012 0.044 0.006 0.012 0.044 -0.006 0.01 0.044 0.006 0.01"/><mesh name="bar_h78" vertex="0.044 -0.006 0.01 0.044 0.006 0.01 0.047 -0.006 0.012 0.047 0.006 0.012 0.047 -0.006 0.01 0.047 0.006 0.01"/><mesh name="bar_h79" vertex="0.047 -0.006 0.01 0.047 0.006 0.01 0.05 -0.006 0.012 0.05 0.006 0.012 0.05 -0.006 0.01 0.05 0.006 0.01"/><mesh name="bar_h80" vertex="0.05 -0.006 0.01 0.05 0.006 0.01 0.053 -0.006 0.012 0.053 0.006 0.012 0.053 -0.006 0.01 0.053 0.006 0.01"/><mesh name="bar_h81" vertex="0.053 -0.006 0.01 0.053 0.006 0.01 0.056 -0.006 0.012 0.056 0.006 0.012 0.056 -0.006 0.01 0.056 0.006 0.01"/><mesh name="bar_h82" vertex="0.056 -0.006 0.01 0.056 0.006 0.01 0.059 -0.006 0.012 0.059 0.006 0.012 0.059 -0.006 0.01 0.059 0.006 0.01"/><mesh name="bar_h83" vertex="0.059 -0.006 0.01 0.059 0.006 0.01 0.062 -0.006 0.012 0.062 0.006 0.012 0.062 -0.006 0.01 0.062 0.006 0.01"/><mesh name="bar_h84" vertex="0.062 -0.006 0.01 0.062 0.006 0.01 0.065 -0.006 0.012 0.065 0.006 0.012 0.065 -0.006 0.01 0.065 0.006 0.01"/><mesh name="bar_h85" vertex="0.065 -0.006 0.01 0.065 0.006 0.01 0.068 -0.006 0.012 0.068 0.006 0.012 0.068 -0.006 0.01 0.068 0.006 0.01"/><mesh name="bar_h86" vertex="0.068 -0.006 0.01 0.068 0.006 0.01 0.071 -0.006 0.012 0.071 0.006 0.012 0.071 -0.006 0.01 0.071 0.006 0.01"/><mesh name="bar_h87" vertex="0.071 -0.006 0.01 0.071 0.006 0.01 0.074 -0.006 0.012 0.074 0.006 0.012 0.074 -0.006 0.01 0.074 0.006 0.01"/><mesh name="bar_h88" vertex="0.074 -0.006 0.01 0.074 0.006 0.01 0.077 -0.006 0.012 0.077 0.006 0.012 0.077 -0.006 0.01 0.077 0.006 0.01"/><mesh name="bar_h89" vertex="0.077 -0.006 0.01 0.077 0.006 0.01 0.08 -0.006 0.012 0.08 0.006 0.012 0.08 -0.006 0.01 0.08 0.006 0.01"/><mesh name="bar_h90" vertex="0.08 -0.006 0.01 0.08 0.006 0.01 0.083 -0.006 0.012 0.083 0.006 0.012 0.083 -0.006 0.01 0.083 0.006 0.01"/><mesh name="bar_h91" vertex="0.083 -0.006 0.01 0.083 0.006 0.01 0.086 -0.006 0.012 0.086 0.006 0.012 0.086 -0.006 0.01 0.086 0.006 0.01"/><mesh name="bar_h92" vertex="0.086 -0.006 0.01 0.086 0.006 0.01 0.089 -0.006 0.012 0.089 0.006 0.012 0.089 -0.006 0.01 0.089 0.006 0.01"/><mesh name="bar_h93" vertex="0.089 -0.006 0.01 0.089 0.006 0.01 0.092 -0.006 0.012 0.092 0.006 0.012 0.092 -0.006 0.01 0.092 0.006 0.01"/><mesh name="bar_h94" vertex="0.092 -0.006 0.01 0.092 0.006 0.01 0.095 -0.006 0.012 0.095 0.006 0.012 0.095 -0.006 0.01 0.095 0.006 0.01"/><mesh name="bar_h95" vertex="0.095 -0.006 0.01 0.095 0.006 0.01 0.098 -0.006 0.012 0.098 0.006 0.012 0.098 -0.006 0.01 0.098 0.006 0.01"/><mesh name="bar_h96" vertex="0.098 -0.006 0.01 0.098 0.006 0.01 0.101 -0.006 0.012 0.101 0.006 0.012 0.101 -0.006 0.01 0.101 0.006 0.01"/><mesh name="bar_h97" vertex="0.101 -0.006 0.01 0.101 0.006 0.01 0.104 -0.006 0.012 0.104 0.006 0.012 0.104 -0.006 0.01 0.104 0.006 0.01"/><mesh name="bar_h98" vertex="0.104 -0.006 0.01 0.104 0.006 0.01 0.107 -0.006 0.012 0.107 0.006 0.012 0.107 -0.006 0.01 0.107 0.006 0.01"/><mesh name="bar_h99" vertex="0.107 -0.006 0.01 0.107 0.006 0.01 0.11 -0.006 0.012 0.11 0.006 0.012 0.11 -0.006 0.01 0.11 0.006 0.01"/><mesh name="bar_h100" vertex="0.11 -0.006 0.01 0.11 0.006 0.01 0.113 -0.006 0.012 0.113 0.006 0.012 0.113 -0.006 0.01 0.113 0.006 0.01"/><mesh name="bar_h101" vertex="0.113 -0.006 0.01 0.113 0.006 0.01 0.116 -0.006 0.012 0.116 0.006 0.012 0.116 -0.006 0.01 0.116 0.006 0.01"/><mesh name="bar_h102" vertex="0.116 -0.006 0.01 0.116 0.006 0.01 0.119 -0.006 0.012 0.119 0.006 0.012 0.119 -0.006 0.01 0.119 0.006 0.01"/><mesh name="pawl_a_h0" vertex="-0.1185 -0.003 -0.0663 -0.1185 0.003 -0.0663 -0.118551111 -0.003 -0.0659117714 -0.118551111 0.003 -0.0659117714 -0.118700962 -0.003 -0.06555 -0.118700962 0.003 -0.06555 -0.11893934 -0.003 -0.0652393398 -0.11893934 0.003 -0.0652393398 -0.11925 -0.003 -0.0650009619 -0.11925 0.003 -0.0650009619 -0.119611771 -0.003 -0.0648511113 -0.119611771 0.003 -0.0648511113 -0.12 -0.003 -0.0648 -0.12 0.003 -0.0648 -0.120388229 -0.003 -0.0648511113 -0.120388229 0.003 -0.0648511113 -0.12075 -0.003 -0.0650009619 -0.12075 0.003 -0.0650009619 -0.12106066 -0.003 -0.0652393398 -0.12106066 0.003 -0.0652393398 -0.121299038 -0.003 -0.06555 -0.121299038 0.003 -0.06555 -0.121448889 -0.003 -0.0659117714 -0.121448889 0.003 -0.0659117714 -0.1215 -0.003 -0.0663 -0.1215 0.003 -0.0663 -0.121448889 -0.003 -0.0666882286 -0.121448889 0.003 -0.0666882286 -0.121299038 -0.003 -0.06705 -0.121299038 0.003 -0.06705 -0.12106066 -0.003 -0.0673606602 -0.12106066 0.003 -0.0673606602 -0.12075 -0.003 -0.0675990381 -0.12075 0.003 -0.0675990381 -0.120388229 -0.003 -0.0677488887 -0.120388229 0.003 -0.0677488887 -0.12 -0.003 -0.0678 -0.12 0.003 -0.0678 -0.119611771 -0.003 -0.0677488887 -0.119611771 0.003 -0.0677488887 -0.11925 -0.003 -0.0675990381 -0.11925 0.003 -0.0675990381 -0.11893934 -0.003 -0.0673606602 -0.11893934 0.003 -0.0673606602 -0.118700962 -0.003 -0.06705 -0.118700962 0.003 -0.06705 -0.118551111 -0.003 -0.0666882286 -0.118551111 0.003 -0.0666882286"/><mesh name="pawl_b_h0" vertex="-0.0585 -0.003 -0.0263 -0.0585 0.003 -0.0263 -0.0585511113 -0.003 -0.0259117714 -0.0585511113 0.003 -0.0259117714 -0.0587009619 -0.003 -0.02555 -0.0587009619 0.003 -0.02555 -0.0589393398 -0.003 -0.0252393398 -0.0589393398 0.003 -0.0252393398 -0.05925 -0.003 -0.0250009619 -0.05925 0.003 -0.0250009619 -0.0596117714 -0.003 -0.0248511113 -0.0596117714 0.003 -0.0248511113 -0.06 -0.003 -0.0248 -0.06 0.003 -0.0248 -0.0603882286 -0.003 -0.0248511113 -0.0603882286 0.003 -0.0248511113 -0.06075 -0.003 -0.0250009619 -0.06075 0.003 -0.0250009619 -0.0610606602 -0.003 -0.0252393398 -0.0610606602 0.003 -0.0252393398 -0.0612990381 -0.003 -0.02555 -0.0612990381 0.003 -0.02555 -0.0614488887 -0.003 -0.0259117714 -0.0614488887 0.003 -0.0259117714 -0.0615 -0.003 -0.0263 -0.0615 0.003 -0.0263 -0.0614488887 -0.003 -0.0266882286 -0.0614488887 0.003 -0.0266882286 -0.0612990381 -0.003 -0.02705 -0.0612990381 0.003 -0.02705 -0.0610606602 -0.003 -0.0273606602 -0.0610606602 0.003 -0.0273606602 -0.06075 -0.003 -0.0275990381 -0.06075 0.003 -0.0275990381 -0.0603882286 -0.003 -0.0277488887 -0.0603882286 0.003 -0.0277488887 -0.06 -0.003 -0.0278 -0.06 0.003 -0.0278 -0.0596117714 -0.003 -0.0277488887 -0.0596117714 0.003 -0.0277488887 -0.05925 -0.003 -0.0275990381 -0.05925 0.003 -0.0275990381 -0.0589393398 -0.003 -0.0273606602 -0.0589393398 0.003 -0.0273606602 -0.0587009619 -0.003 -0.02705 -0.0587009619 0.003 -0.02705 -0.0585511113 -0.003 -0.0266882286 -0.0585511113 0.003 -0.0266882286"/></asset>
<size memory="64M"/>
<worldbody>
<body name="lever" pos="0 0 0.06"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0.001348598061 0.01665498022 0.001095186642" mass="0.1003253051" fullinertia="0.00002118890214 0.00003990545185 0.00002323562179 0.000001982797017 -0.000004770208827 0.000001610214984"/><body name="pawl_a" pos="0 0 0.02"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="-1.3 1.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.02" springref="-0.3"/><inertial pos="-0.05607317464 -0.0007023938947 -0.03098042899" mass="0.01306711057" fullinertia="0.000005876891172 0.00002497145571 0.00001915333691 -1.78363106e-7 -0.00001055819808 -9.854561605e-8"/><geom name="pawl_a_h0" type="mesh" mesh="pawl_a_h0" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="pawl_b" pos="0 0 -0.02"><joint name="j_bb" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="-1.3 1.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.02" springref="-0.3"/><inertial pos="-0.02635416821 0.004259342483 -0.0115519104" mass="0.007037113085" fullinertia="5.9923986e-7 0.000003499413046 0.000002960373369 3.811740334e-8 -0.000001281110413 1.670812846e-8"/><geom name="pawl_b_h0" type="mesh" mesh="pawl_b_h0" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="bar" pos="0 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="20" frictionloss="0"/><inertial pos="-0.035 0 0.005485175949" mass="0.1169316" fullinertia="0.000002590362404 0.001051143479 0.001051359475 0 -1.6686e-9 0"/><geom name="bar_h0" type="mesh" mesh="bar_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h1" type="mesh" mesh="bar_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h2" type="mesh" mesh="bar_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h3" type="mesh" mesh="bar_h3" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h4" type="mesh" mesh="bar_h4" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h5" type="mesh" mesh="bar_h5" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h6" type="mesh" mesh="bar_h6" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h7" type="mesh" mesh="bar_h7" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h8" type="mesh" mesh="bar_h8" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h9" type="mesh" mesh="bar_h9" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h10" type="mesh" mesh="bar_h10" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h11" type="mesh" mesh="bar_h11" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h12" type="mesh" mesh="bar_h12" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h13" type="mesh" mesh="bar_h13" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h14" type="mesh" mesh="bar_h14" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h15" type="mesh" mesh="bar_h15" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h16" type="mesh" mesh="bar_h16" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h17" type="mesh" mesh="bar_h17" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h18" type="mesh" mesh="bar_h18" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h19" type="mesh" mesh="bar_h19" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h20" type="mesh" mesh="bar_h20" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h21" type="mesh" mesh="bar_h21" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h22" type="mesh" mesh="bar_h22" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h23" type="mesh" mesh="bar_h23" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h24" type="mesh" mesh="bar_h24" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h25" type="mesh" mesh="bar_h25" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h26" type="mesh" mesh="bar_h26" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h27" type="mesh" mesh="bar_h27" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h28" type="mesh" mesh="bar_h28" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h29" type="mesh" mesh="bar_h29" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h30" type="mesh" mesh="bar_h30" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h31" type="mesh" mesh="bar_h31" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h32" type="mesh" mesh="bar_h32" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h33" type="mesh" mesh="bar_h33" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h34" type="mesh" mesh="bar_h34" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h35" type="mesh" mesh="bar_h35" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h36" type="mesh" mesh="bar_h36" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h37" type="mesh" mesh="bar_h37" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h38" type="mesh" mesh="bar_h38" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h39" type="mesh" mesh="bar_h39" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h40" type="mesh" mesh="bar_h40" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h41" type="mesh" mesh="bar_h41" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h42" type="mesh" mesh="bar_h42" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h43" type="mesh" mesh="bar_h43" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h44" type="mesh" mesh="bar_h44" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h45" type="mesh" mesh="bar_h45" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h46" type="mesh" mesh="bar_h46" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h47" type="mesh" mesh="bar_h47" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h48" type="mesh" mesh="bar_h48" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h49" type="mesh" mesh="bar_h49" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h50" type="mesh" mesh="bar_h50" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h51" type="mesh" mesh="bar_h51" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h52" type="mesh" mesh="bar_h52" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h53" type="mesh" mesh="bar_h53" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h54" type="mesh" mesh="bar_h54" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h55" type="mesh" mesh="bar_h55" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h56" type="mesh" mesh="bar_h56" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h57" type="mesh" mesh="bar_h57" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h58" type="mesh" mesh="bar_h58" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h59" type="mesh" mesh="bar_h59" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h60" type="mesh" mesh="bar_h60" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h61" type="mesh" mesh="bar_h61" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h62" type="mesh" mesh="bar_h62" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h63" type="mesh" mesh="bar_h63" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h64" type="mesh" mesh="bar_h64" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h65" type="mesh" mesh="bar_h65" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h66" type="mesh" mesh="bar_h66" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h67" type="mesh" mesh="bar_h67" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h68" type="mesh" mesh="bar_h68" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h69" type="mesh" mesh="bar_h69" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h70" type="mesh" mesh="bar_h70" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h71" type="mesh" mesh="bar_h71" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h72" type="mesh" mesh="bar_h72" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h73" type="mesh" mesh="bar_h73" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h74" type="mesh" mesh="bar_h74" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h75" type="mesh" mesh="bar_h75" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h76" type="mesh" mesh="bar_h76" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h77" type="mesh" mesh="bar_h77" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h78" type="mesh" mesh="bar_h78" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h79" type="mesh" mesh="bar_h79" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h80" type="mesh" mesh="bar_h80" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h81" type="mesh" mesh="bar_h81" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h82" type="mesh" mesh="bar_h82" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h83" type="mesh" mesh="bar_h83" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h84" type="mesh" mesh="bar_h84" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h85" type="mesh" mesh="bar_h85" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h86" type="mesh" mesh="bar_h86" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h87" type="mesh" mesh="bar_h87" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h88" type="mesh" mesh="bar_h88" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h89" type="mesh" mesh="bar_h89" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h90" type="mesh" mesh="bar_h90" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h91" type="mesh" mesh="bar_h91" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h92" type="mesh" mesh="bar_h92" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h93" type="mesh" mesh="bar_h93" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h94" type="mesh" mesh="bar_h94" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h95" type="mesh" mesh="bar_h95" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h96" type="mesh" mesh="bar_h96" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h97" type="mesh" mesh="bar_h97" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h98" type="mesh" mesh="bar_h98" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h99" type="mesh" mesh="bar_h99" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h100" type="mesh" mesh="bar_h100" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h101" type="mesh" mesh="bar_h101" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="bar_h102" type="mesh" mesh="bar_h102" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 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_l" kv="3" forcerange="-30 30"/></actuator>
</mujoco>
