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0"/><geom name="s27_h0" type="capsule" fromto="0 0 0 -0.0021482 0 0.0034084" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s28" pos="-0.0021482 0 0.0034084"><joint name="j_s28" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0.02509"/><inertial pos="-0.00134405 0 0.00150055" mass="0.00003" fullinertia="2.349197894e-11 4.125620705e-11 1.911422811e-11 0 1.983267921e-11 0"/><geom name="s28_h0" type="capsule" fromto="0 0 0 -0.0026881 0 0.0030011" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s29" pos="-0.0026881 0 0.0030011"><joint name="j_s29" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0.02509"/><inertial pos="-0.0015761 0 0.0012545" mass="0.00003" 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springref="0.02509"/><inertial pos="-0.0019017 0 0.00066445" mass="0.00003" fullinertia="5.691500002e-12 4.125456692e-11 3.691306692e-11 0 1.242566115e-11 0"/><geom name="s31_h0" type="capsule" fromto="0 0 0 -0.0038034 0 0.0013289" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s32" pos="-0.0038034 0 0.0013289"><joint name="j_s32" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0.02509"/><inertial pos="-0.00198605 0 0.00033695" mass="0.00003" fullinertia="2.466467453e-12 4.125429905e-11 4.01378316e-11 0 6.580680173e-12 0"/><geom name="s32_h0" type="capsule" fromto="0 0 0 -0.0039721 0 0.0006739" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s33" pos="-0.0039721 0 0.0006739"><joint name="j_s33" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0.02509"/><inertial pos="-0.0020145 0 0" mass="0.00003" fullinertia="1.35e-12 4.12571025e-11 4.12571025e-11 0 0 0"/><geom name="s33_h0" type="capsule" fromto="0 0 0 -0.004029 0 0" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s34" pos="-0.004029 0 0"><joint name="j_s34" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="-0.00198605 0 -0.00033695" mass="0.00003" fullinertia="2.466467453e-12 4.125429905e-11 4.01378316e-11 0 -6.580680173e-12 0"/><geom name="s34_h0" type="capsule" fromto="0 0 0 -0.0039721 0 -0.0006739" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s35" pos="-0.0039721 0 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0.0005" margin="0" group="2" mass="0"/><body name="s37" pos="-0.0035276 0 -0.0019465"><joint name="j_s37" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="-0.0015761 0 -0.0012545" mass="0.00003" fullinertia="1.682591561e-11 4.12536146e-11 2.577769899e-11 0 -1.944327668e-11 0"/><geom name="s37_h0" type="capsule" fromto="0 0 0 -0.0031522 0 -0.002509" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s38" pos="-0.0031522 0 -0.002509"><joint name="j_s38" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="-0.00134405 0 -0.00150055" mass="0.00003" fullinertia="2.349197894e-11 4.125620705e-11 1.911422811e-11 0 -1.983267921e-11 0"/><geom name="s38_h0" type="capsule" fromto="0 0 0 -0.0026881 0 -0.0030011" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s39" pos="-0.0026881 0 -0.0030011"><joint name="j_s39" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="-0.0010741 0 -0.0017042" mass="0.00003" fullinertia="2.990987968e-11 4.12548845e-11 1.269500482e-11 0 -1.800033257e-11 0"/><geom name="s39_h0" type="capsule" fromto="0 0 0 -0.0021482 0 -0.0034084" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s40" pos="-0.0021482 0 -0.0034084"><joint name="j_s40" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="-0.0007739 0 -0.00185985" mass="0.00003" fullinertia="3.536504454e-11 4.125463232e-11 7.239587783e-12 0 -1.415396025e-11 0"/><geom name="s40_h0" type="capsule" fromto="0 0 0 -0.0015478 0 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0"/><geom name="s42_h0" type="capsule" fromto="0 0 0 -0.0002343 0 -0.0040221" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s43" pos="-0.0002343 0 -0.0040221"><joint name="j_s43" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="0.00022095 0 -0.0020023" mass="0.00003" fullinertia="4.077517329e-11 4.125524192e-11 1.83006863e-12 0 4.350492953e-12 0"/><geom name="s43_h0" type="capsule" fromto="0 0 0 0.0004419 0 -0.0040046" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s44" pos="0.0004419 0 -0.0040046"><joint name="j_s44" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="0.00055275 0 -0.00193715" mass="0.00003" fullinertia="3.825132189e-11 4.125582685e-11 4.354504955e-12 0 1.052949213e-11 0"/><geom name="s44_h0" type="capsule" fromto="0 0 0 0.0011055 0 -0.0038743" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s45" pos="0.0011055 0 -0.0038743"><joint name="j_s45" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="0.000869 0 -0.00181735" mass="0.00003" fullinertia="3.382822468e-11 4.125422022e-11 8.775995542e-12 0 1.55300725e-11 0"/><geom name="s45_h0" type="capsule" fromto="0 0 0 0.001738 0 -0.0036347" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="s46" pos="0.001738 0 -0.0036347"><joint name="j_s46" type="hinge" axis="0 1 0" damping="2e-7" frictionloss="0" stiffness="0.0173745" springref="0"/><inertial pos="0.00116075 0 -0.0016464" mass="0.00003" fullinertia="2.800544513e-11 4.125473522e-11 1.45992901e-11 0 1.879270404e-11 0"/><geom name="s46_h0" type="capsule" fromto="0 0 0 0.0023215 0 -0.0032928" size="0.0003" contype="8" conaffinity="16" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="lever" pos="0 0 0"><joint name="j_lever" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0.000002207275382 -0.002913703395 0.006430834123" mass="0.01" fullinertia="0.0000050442584 0.000008466702234 0.000003429075431 -4.775889237e-11 -9.162716631e-10 -1.513320207e-8"/><geom name="lever_h0" type="mesh" mesh="lever_h0" contype="16" conaffinity="8" condim="3" friction="0.001 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="lever_h1" type="mesh" mesh="lever_h1" contype="16" conaffinity="8" condim="3" friction="0.001 0.005 0.0001" solref="0.002 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><connect name="stud" body1="s46" body2="frame" anchor="0.0023215 0 -0.0032928" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="s46" body2="frame"/></contact>
<actuator><velocity name="drive" joint="j_lever" kv="1" forcerange="-1 1"/></actuator>
</mujoco>
