<mujoco model="329-piston-rod-guide-cog-wheel-internal-gear">
<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="frame_h0" vertex="-0.012 -0.024 0.106 -0.012 -0.009 0.106 -0.0042 -0.024 0.106 -0.0042 -0.009 0.106 -0.0042 -0.024 0.122 -0.0042 -0.009 0.122 -0.012 -0.024 0.122 -0.012 -0.009 0.122"/><mesh name="frame_h1" vertex="0.0042 -0.024 0.106 0.0042 -0.009 0.106 0.012 -0.024 0.106 0.012 -0.009 0.106 0.012 -0.024 0.122 0.012 -0.009 0.122 0.0042 -0.024 0.122 0.0042 -0.009 0.122"/><mesh name="frame_h2" vertex="0.091615 -0.008 0.006392 0.091615 0.008 0.006392 0.091101 -0.008 0.011604 0.091101 0.008 0.011604 0.100888 -0.008 0.016298 0.100888 0.008 0.016298 0.102129 -0.008 0.003698 0.102129 0.008 0.003698"/><mesh name="frame_h3" vertex="0.088607 -0.008 0.024143 0.088607 0.008 0.024143 0.087087 -0.008 0.029154 0.087087 0.008 0.029154 0.09577 -0.008 0.035667 0.09577 0.008 0.035667 0.099446 -0.008 0.023551 0.099446 0.008 0.023551"/><mesh name="frame_h4" vertex="0.082195 -0.008 0.040965 0.082195 0.008 0.040965 0.079726 -0.008 0.045583 0.079726 0.008 0.045583 0.086972 -0.008 0.053666 0.086972 0.008 0.053666 0.09294 -0.008 0.042499 0.09294 0.008 0.042499"/><mesh name="frame_h5" vertex="0.072623 -0.008 0.056213 0.072623 0.008 0.056213 0.069301 -0.008 0.060261 0.069301 0.008 0.060261 0.074831 -0.008 0.069602 0.074831 0.008 0.069602 0.082863 -0.008 0.059814 0.082863 0.008 0.059814"/><mesh name="frame_h6" vertex="0.060261 -0.008 0.069301 0.060261 0.008 0.069301 0.056213 -0.008 0.072623 0.056213 0.008 0.072623 0.059814 -0.008 0.082863 0.059814 0.008 0.082863 0.069602 -0.008 0.074831 0.069602 0.008 0.074831"/><mesh name="frame_h7" vertex="0.045583 -0.008 0.079726 0.045583 0.008 0.079726 0.040965 -0.008 0.082195 0.040965 0.008 0.082195 0.042499 -0.008 0.09294 0.042499 0.008 0.09294 0.053666 -0.008 0.086972 0.053666 0.008 0.086972"/><mesh name="frame_h8" vertex="0.029154 -0.008 0.087087 0.029154 0.008 0.087087 0.024143 -0.008 0.088607 0.024143 0.008 0.088607 0.023551 -0.008 0.099446 0.023551 0.008 0.099446 0.035667 -0.008 0.09577 0.035667 0.008 0.09577"/><mesh name="frame_h9" vertex="0.011604 -0.008 0.091101 0.011604 0.008 0.091101 0.006392 -0.008 0.091615 0.006392 0.008 0.091615 0.003698 -0.008 0.102129 0.003698 0.008 0.102129 0.016298 -0.008 0.100888 0.016298 0.008 0.100888"/><mesh name="frame_h10" vertex="-0.006392 -0.008 0.091615 -0.006392 0.008 0.091615 -0.011604 -0.008 0.091101 -0.011604 0.008 0.091101 -0.016298 -0.008 0.100888 -0.016298 0.008 0.100888 -0.003698 -0.008 0.102129 -0.003698 0.008 0.102129"/><mesh name="frame_h11" vertex="-0.024143 -0.008 0.088607 -0.024143 0.008 0.088607 -0.029154 -0.008 0.087087 -0.029154 0.008 0.087087 -0.035667 -0.008 0.09577 -0.035667 0.008 0.09577 -0.023551 -0.008 0.099446 -0.023551 0.008 0.099446"/><mesh name="frame_h12" vertex="-0.040965 -0.008 0.082195 -0.040965 0.008 0.082195 -0.045583 -0.008 0.079726 -0.045583 0.008 0.079726 -0.053666 -0.008 0.086972 -0.053666 0.008 0.086972 -0.042499 -0.008 0.09294 -0.042499 0.008 0.09294"/><mesh name="frame_h13" vertex="-0.056213 -0.008 0.072623 -0.056213 0.008 0.072623 -0.060261 -0.008 0.069301 -0.060261 0.008 0.069301 -0.069602 -0.008 0.074831 -0.069602 0.008 0.074831 -0.059814 -0.008 0.082863 -0.059814 0.008 0.082863"/><mesh name="frame_h14" vertex="-0.069301 -0.008 0.060261 -0.069301 0.008 0.060261 -0.072623 -0.008 0.056213 -0.072623 0.008 0.056213 -0.082863 -0.008 0.059814 -0.082863 0.008 0.059814 -0.074831 -0.008 0.069602 -0.074831 0.008 0.069602"/><mesh name="frame_h15" vertex="-0.079726 -0.008 0.045583 -0.079726 0.008 0.045583 -0.082195 -0.008 0.040965 -0.082195 0.008 0.040965 -0.09294 -0.008 0.042499 -0.09294 0.008 0.042499 -0.086972 -0.008 0.053666 -0.086972 0.008 0.053666"/><mesh name="frame_h16" vertex="-0.087087 -0.008 0.029154 -0.087087 0.008 0.029154 -0.088607 -0.008 0.024143 -0.088607 0.008 0.024143 -0.099446 -0.008 0.023551 -0.099446 0.008 0.023551 -0.09577 -0.008 0.035667 -0.09577 0.008 0.035667"/><mesh name="frame_h17" vertex="-0.091101 -0.008 0.011604 -0.091101 0.008 0.011604 -0.091615 -0.008 0.006392 -0.091615 0.008 0.006392 -0.102129 -0.008 0.003698 -0.102129 0.008 0.003698 -0.100888 -0.008 0.016298 -0.100888 0.008 0.016298"/><mesh name="frame_h18" vertex="-0.091615 -0.008 -0.006392 -0.091615 0.008 -0.006392 -0.091101 -0.008 -0.011604 -0.091101 0.008 -0.011604 -0.100888 -0.008 -0.016298 -0.100888 0.008 -0.016298 -0.102129 -0.008 -0.003698 -0.102129 0.008 -0.003698"/><mesh name="frame_h19" vertex="-0.088607 -0.008 -0.024143 -0.088607 0.008 -0.024143 -0.087087 -0.008 -0.029154 -0.087087 0.008 -0.029154 -0.09577 -0.008 -0.035667 -0.09577 0.008 -0.035667 -0.099446 -0.008 -0.023551 -0.099446 0.008 -0.023551"/><mesh name="frame_h20" vertex="-0.082195 -0.008 -0.040965 -0.082195 0.008 -0.040965 -0.079726 -0.008 -0.045583 -0.079726 0.008 -0.045583 -0.086972 -0.008 -0.053666 -0.086972 0.008 -0.053666 -0.09294 -0.008 -0.042499 -0.09294 0.008 -0.042499"/><mesh name="frame_h21" vertex="-0.072623 -0.008 -0.056213 -0.072623 0.008 -0.056213 -0.069301 -0.008 -0.060261 -0.069301 0.008 -0.060261 -0.074831 -0.008 -0.069602 -0.074831 0.008 -0.069602 -0.082863 -0.008 -0.059814 -0.082863 0.008 -0.059814"/><mesh name="frame_h22" vertex="-0.060261 -0.008 -0.069301 -0.060261 0.008 -0.069301 -0.056213 -0.008 -0.072623 -0.056213 0.008 -0.072623 -0.059814 -0.008 -0.082863 -0.059814 0.008 -0.082863 -0.069602 -0.008 -0.074831 -0.069602 0.008 -0.074831"/><mesh name="frame_h23" vertex="-0.045583 -0.008 -0.079726 -0.045583 0.008 -0.079726 -0.040965 -0.008 -0.082195 -0.040965 0.008 -0.082195 -0.042499 -0.008 -0.09294 -0.042499 0.008 -0.09294 -0.053666 -0.008 -0.086972 -0.053666 0.008 -0.086972"/><mesh name="frame_h24" vertex="-0.029154 -0.008 -0.087087 -0.029154 0.008 -0.087087 -0.024143 -0.008 -0.088607 -0.024143 0.008 -0.088607 -0.023551 -0.008 -0.099446 -0.023551 0.008 -0.099446 -0.035667 -0.008 -0.09577 -0.035667 0.008 -0.09577"/><mesh name="frame_h25" vertex="-0.011604 -0.008 -0.091101 -0.011604 0.008 -0.091101 -0.006392 -0.008 -0.091615 -0.006392 0.008 -0.091615 -0.003698 -0.008 -0.102129 -0.003698 0.008 -0.102129 -0.016298 -0.008 -0.100888 -0.016298 0.008 -0.100888"/><mesh name="frame_h26" vertex="0.006392 -0.008 -0.091615 0.006392 0.008 -0.091615 0.011604 -0.008 -0.091101 0.011604 0.008 -0.091101 0.016298 -0.008 -0.100888 0.016298 0.008 -0.100888 0.003698 -0.008 -0.102129 0.003698 0.008 -0.102129"/><mesh name="frame_h27" vertex="0.024143 -0.008 -0.088607 0.024143 0.008 -0.088607 0.029154 -0.008 -0.087087 0.029154 0.008 -0.087087 0.035667 -0.008 -0.09577 0.035667 0.008 -0.09577 0.023551 -0.008 -0.099446 0.023551 0.008 -0.099446"/><mesh name="frame_h28" vertex="0.040965 -0.008 -0.082195 0.040965 0.008 -0.082195 0.045583 -0.008 -0.079726 0.045583 0.008 -0.079726 0.053666 -0.008 -0.086972 0.053666 0.008 -0.086972 0.042499 -0.008 -0.09294 0.042499 0.008 -0.09294"/><mesh name="frame_h29" vertex="0.056213 -0.008 -0.072623 0.056213 0.008 -0.072623 0.060261 -0.008 -0.069301 0.060261 0.008 -0.069301 0.069602 -0.008 -0.074831 0.069602 0.008 -0.074831 0.059814 -0.008 -0.082863 0.059814 0.008 -0.082863"/><mesh name="frame_h30" vertex="0.069301 -0.008 -0.060261 0.069301 0.008 -0.060261 0.072623 -0.008 -0.056213 0.072623 0.008 -0.056213 0.082863 -0.008 -0.059814 0.082863 0.008 -0.059814 0.074831 -0.008 -0.069602 0.074831 0.008 -0.069602"/><mesh name="frame_h31" vertex="0.079726 -0.008 -0.045583 0.079726 0.008 -0.045583 0.082195 -0.008 -0.040965 0.082195 0.008 -0.040965 0.09294 -0.008 -0.042499 0.09294 0.008 -0.042499 0.086972 -0.008 -0.053666 0.086972 0.008 -0.053666"/><mesh name="frame_h32" vertex="0.087087 -0.008 -0.029154 0.087087 0.008 -0.029154 0.088607 -0.008 -0.024143 0.088607 0.008 -0.024143 0.099446 -0.008 -0.023551 0.099446 0.008 -0.023551 0.09577 -0.008 -0.035667 0.09577 0.008 -0.035667"/><mesh name="frame_h33" vertex="0.091101 -0.008 -0.011604 0.091101 0.008 -0.011604 0.091615 -0.008 -0.006392 0.091615 0.008 -0.006392 0.102129 -0.008 -0.003698 0.102129 0.008 -0.003698 0.100888 -0.008 -0.016298 0.100888 0.008 -0.016298"/><mesh name="C_h0" vertex="0.054 -0.009 0 0.054 0.01 0 0.053795555 -0.009 0.00155291427 0.053795555 0.01 0.00155291427 0.0531961524 -0.009 0.003 0.0531961524 0.01 0.003 0.0522426407 -0.009 0.00424264069 0.0522426407 0.01 0.00424264069 0.051 -0.009 0.00519615242 0.051 0.01 0.00519615242 0.0495529143 -0.009 0.00579555496 0.0495529143 0.01 0.00579555496 0.048 -0.009 0.006 0.048 0.01 0.006 0.0464470857 -0.009 0.00579555496 0.0464470857 0.01 0.00579555496 0.045 -0.009 0.00519615242 0.045 0.01 0.00519615242 0.0437573593 -0.009 0.00424264069 0.0437573593 0.01 0.00424264069 0.0428038476 -0.009 0.003 0.0428038476 0.01 0.003 0.042204445 -0.009 0.00155291427 0.042204445 0.01 0.00155291427 0.042 -0.009 7.34788079e-19 0.042 0.01 7.34788079e-19 0.042204445 -0.009 -0.00155291427 0.042204445 0.01 -0.00155291427 0.0428038476 -0.009 -0.003 0.0428038476 0.01 -0.003 0.0437573593 -0.009 -0.00424264069 0.0437573593 0.01 -0.00424264069 0.045 -0.009 -0.00519615242 0.045 0.01 -0.00519615242 0.0464470857 -0.009 -0.00579555496 0.0464470857 0.01 -0.00579555496 0.048 -0.009 -0.006 0.048 0.01 -0.006 0.0495529143 -0.009 -0.00579555496 0.0495529143 0.01 -0.00579555496 0.051 -0.009 -0.00519615242 0.051 0.01 -0.00519615242 0.0522426407 -0.009 -0.00424264069 0.0522426407 0.01 -0.00424264069 0.0531961524 -0.009 -0.003 0.0531961524 0.01 -0.003 0.053795555 -0.009 -0.00155291427 0.053795555 0.01 -0.00155291427"/><mesh name="B_h0" vertex="0.0062 -0.008 0 0.0062 0.008 0 0.0145 -0.008 0 0.0145 0.008 0 0.0142797114 -0.008 0.0025179044 0.0142797114 0.008 0.0025179044 0.00610580763 -0.008 0.00107662119 0.00610580763 0.008 0.00107662119"/><mesh name="B_h1" vertex="0.00610580763 -0.008 0.00107662119 0.00610580763 0.008 0.00107662119 0.0142797114 -0.008 0.0025179044 0.0142797114 0.008 0.0025179044 0.013625539 -0.008 0.0049593032 0.013625539 0.008 0.0049593032 0.00582609252 -0.008 0.00212052964 0.00582609252 0.008 0.00212052964"/><mesh name="B_h2" vertex="0.00582609252 -0.008 0.00212052964 0.00582609252 0.008 0.00212052964 0.013625539 -0.008 0.0049593032 0.013625539 0.008 0.0049593032 0.0125573595 -0.008 0.00725001538 0.0125573595 0.008 0.00725001538 0.00536935371 -0.008 0.00310000657 0.00536935371 0.008 0.00310000657"/><mesh name="B_h3" vertex="0.00536935371 -0.008 0.00310000657 0.00536935371 0.008 0.00310000657 0.0125573595 -0.008 0.00725001538 0.0125573595 0.008 0.00725001538 0.0111076292 -0.008 0.00932043847 0.0111076292 0.008 0.00932043847 0.00474946904 -0.008 0.00398529093 0.00474946904 0.008 0.00398529093"/><mesh name="B_h4" vertex="0.00474946904 -0.008 0.00398529093 0.00474946904 0.008 0.00398529093 0.0111076292 -0.008 0.00932043847 0.0111076292 0.008 0.00932043847 0.00932039767 -0.008 0.0111076634 0.00932039767 0.008 0.0111076634 0.00398527349 -0.008 0.00474948368 0.00398527349 0.008 0.00474948368"/><mesh name="B_h5" vertex="0.00398527349 -0.008 0.00474948368 0.00398527349 0.008 0.00474948368 0.00932039767 -0.008 0.0111076634 0.00932039767 0.008 0.0111076634 0.00724996925 -0.008 0.0125573861 0.00724996925 0.008 0.0125573861 0.00309998685 -0.008 0.00536936509 0.00309998685 0.008 0.00536936509"/><mesh name="B_h6" vertex="0.00309998685 -0.008 0.00536936509 0.00309998685 0.008 0.00536936509 0.00724996925 -0.008 0.0125573861 0.00724996925 0.008 0.0125573861 0.00495925315 -0.008 0.0136255572 0.00495925315 0.008 0.0136255572 0.00212050824 -0.008 0.00582610031 0.00212050824 0.008 0.00582610031"/><mesh name="B_h7" vertex="0.00212050824 -0.008 0.00582610031 0.00212050824 0.008 0.00582610031 0.00495925315 -0.008 0.0136255572 0.00495925315 0.008 0.0136255572 0.00251785195 -0.008 0.0142797206 0.00251785195 0.008 0.0142797206 0.00107659877 -0.008 0.00610581158 0.00107659877 0.008 0.00610581158"/><mesh name="B_h8" vertex="0.00107659877 -0.008 0.00610581158 0.00107659877 0.008 0.00610581158 0.00251785195 -0.008 0.0142797206 0.00251785195 0.008 0.0142797206 -5.3261474e-8 -0.008 0.0145 -5.3261474e-8 0.008 0.0145 -2.27738716e-8 -0.008 0.0062 -2.27738716e-8 0.008 0.0062"/><mesh name="B_h9" vertex="-2.27738716e-8 -0.008 0.0062 -2.27738716e-8 0.008 0.0062 -5.3261474e-8 -0.008 0.0145 -5.3261474e-8 0.008 0.0145 -0.00251795686 -0.008 0.0142797021 -0.00251795686 0.008 0.0142797021 -0.00107664362 -0.008 0.00610580367 -0.00107664362 0.008 0.00610580367"/><mesh name="B_h10" vertex="-0.00107664362 -0.008 0.00610580367 -0.00107664362 0.008 0.00610580367 -0.00251795686 -0.008 0.0142797021 -0.00251795686 0.008 0.0142797021 -0.00495935325 -0.008 0.0136255207 -0.00495935325 0.008 0.0136255207 -0.00212055104 -0.008 0.00582608473 -0.00212055104 0.008 0.00582608473"/><mesh name="B_h11" vertex="-0.00212055104 -0.008 0.00582608473 -0.00212055104 0.008 0.00582608473 -0.00495935325 -0.008 0.0136255207 -0.00495935325 0.008 0.0136255207 -0.0072500615 -0.008 0.0125573328 -0.0072500615 0.008 0.0125573328 -0.0031000263 -0.008 0.00536934232 -0.0031000263 0.008 0.00536934232"/><mesh name="B_h12" vertex="-0.0031000263 -0.008 0.00536934232 -0.0031000263 0.008 0.00536934232 -0.0072500615 -0.008 0.0125573328 -0.0072500615 0.008 0.0125573328 -0.00932047927 -0.008 0.011107595 -0.00932047927 0.008 0.011107595 -0.00398530838 -0.008 0.0047494544 -0.00398530838 0.008 0.0047494544"/><mesh name="B_h13" vertex="-0.00398530838 -0.008 0.0047494544 -0.00398530838 0.008 0.0047494544 -0.00932047927 -0.008 0.011107595 -0.00932047927 0.008 0.011107595 -0.0111076977 -0.008 0.00932035687 -0.0111076977 0.008 0.00932035687 -0.00474949832 -0.008 0.00398525604 -0.00474949832 0.008 0.00398525604"/><mesh name="B_h14" vertex="-0.00474949832 -0.008 0.00398525604 -0.00474949832 0.008 0.00398525604 -0.0111076977 -0.008 0.00932035687 -0.0111076977 0.008 0.00932035687 -0.0125574127 -0.008 0.00724992312 -0.0125574127 0.008 0.00724992312 -0.00536937648 -0.008 0.00309996713 -0.00536937648 0.008 0.00309996713"/><mesh name="B_h15" vertex="-0.00536937648 -0.008 0.00309996713 -0.00536937648 0.008 0.00309996713 -0.0125574127 -0.008 0.00724992312 -0.0125574127 0.008 0.00724992312 -0.0136255754 -0.008 0.0049592031 -0.0136255754 0.008 0.0049592031 -0.0058261081 -0.008 0.00212048684 -0.0058261081 0.008 0.00212048684"/><mesh name="B_h16" vertex="-0.0058261081 -0.008 0.00212048684 -0.0058261081 0.008 0.00212048684 -0.0136255754 -0.008 0.0049592031 -0.0136255754 0.008 0.0049592031 -0.0142797299 -0.008 0.0025177995 -0.0142797299 0.008 0.0025177995 -0.00610581554 -0.008 0.00107657634 -0.00610581554 0.008 0.00107657634"/><mesh name="B_h17" vertex="-0.00610581554 -0.008 0.00107657634 -0.00610581554 0.008 0.00107657634 -0.0142797299 -0.008 0.0025177995 -0.0142797299 0.008 0.0025177995 -0.0145 -0.008 -1.06522948e-7 -0.0145 0.008 -1.06522948e-7 -0.0062 -0.008 -4.55477433e-8 -0.0062 0.008 -4.55477433e-8"/><mesh name="B_h18" vertex="-0.0062 -0.008 -4.55477433e-8 -0.0062 0.008 -4.55477433e-8 -0.0145 -0.008 -1.06522948e-7 -0.0145 0.008 -1.06522948e-7 -0.0142796929 -0.008 -0.00251800931 -0.0142796929 0.008 -0.00251800931 -0.00610579972 -0.008 -0.00107666605 -0.00610579972 0.008 -0.00107666605"/><mesh name="B_h19" vertex="-0.00610579972 -0.008 -0.00107666605 -0.00610579972 0.008 -0.00107666605 -0.0142796929 -0.008 -0.00251800931 -0.0142796929 0.008 -0.00251800931 -0.0136255025 -0.008 -0.0049594033 -0.0136255025 0.008 -0.0049594033 -0.00582607694 -0.008 -0.00212057245 -0.00582607694 0.008 -0.00212057245"/><mesh name="B_h20" vertex="-0.00582607694 -0.008 -0.00212057245 -0.00582607694 0.008 -0.00212057245 -0.0136255025 -0.008 -0.0049594033 -0.0136255025 0.008 -0.0049594033 -0.0125573062 -0.008 -0.00725010763 -0.0125573062 0.008 -0.00725010763 -0.00536933093 -0.008 -0.00310004602 -0.00536933093 0.008 -0.00310004602"/><mesh name="B_h21" vertex="-0.00536933093 -0.008 -0.00310004602 -0.00536933093 0.008 -0.00310004602 -0.0125573062 -0.008 -0.00725010763 -0.0125573062 0.008 -0.00725010763 -0.0111075607 -0.008 -0.00932052008 -0.0111075607 0.008 -0.00932052008 -0.00474943976 -0.008 -0.00398532583 -0.00474943976 0.008 -0.00398532583"/><mesh name="B_h22" vertex="-0.00474943976 -0.008 -0.00398532583 -0.00474943976 0.008 -0.00398532583 -0.0111075607 -0.008 -0.00932052008 -0.0111075607 0.008 -0.00932052008 -0.00932031607 -0.008 -0.0111077319 -0.00932031607 0.008 -0.0111077319 -0.0039852386 -0.008 -0.00474951296 -0.0039852386 0.008 -0.00474951296"/><mesh name="B_h23" vertex="-0.0039852386 -0.008 -0.00474951296 -0.0039852386 0.008 -0.00474951296 -0.00932031607 -0.008 -0.0111077319 -0.00932031607 0.008 -0.0111077319 -0.007249877 -0.008 -0.0125574394 -0.007249877 0.008 -0.0125574394 -0.00309994741 -0.008 -0.00536938787 -0.00309994741 0.008 -0.00536938787"/><mesh name="B_h24" vertex="-0.00309994741 -0.008 -0.00536938787 -0.00309994741 0.008 -0.00536938787 -0.007249877 -0.008 -0.0125574394 -0.007249877 0.008 -0.0125574394 -0.00495915305 -0.008 -0.0136255936 -0.00495915305 0.008 -0.0136255936 -0.00212046544 -0.008 -0.00582611589 -0.00212046544 0.008 -0.00582611589"/><mesh name="B_h25" vertex="-0.00212046544 -0.008 -0.00582611589 -0.00212046544 0.008 -0.00582611589 -0.00495915305 -0.008 -0.0136255936 -0.00495915305 0.008 -0.0136255936 -0.00251774705 -0.008 -0.0142797391 -0.00251774705 0.008 -0.0142797391 -0.00107655391 -0.008 -0.00610581949 -0.00107655391 0.008 -0.00610581949"/><mesh name="B_h26" vertex="-0.00107655391 -0.008 -0.00610581949 -0.00107655391 0.008 -0.00610581949 -0.00251774705 -0.008 -0.0142797391 -0.00251774705 0.008 -0.0142797391 1.59784422e-7 -0.008 -0.0145 1.59784422e-7 0.008 -0.0145 6.83216149e-8 -0.008 -0.0062 6.83216149e-8 0.008 -0.0062"/><mesh name="B_h27" vertex="6.83216149e-8 -0.008 -0.0062 6.83216149e-8 0.008 -0.0062 1.59784422e-7 -0.008 -0.0145 1.59784422e-7 0.008 -0.0145 0.00251806176 -0.008 -0.0142796836 0.00251806176 0.008 -0.0142796836 0.00107668848 -0.008 -0.00610579576 0.00107668848 0.008 -0.00610579576"/><mesh name="B_h28" vertex="0.00107668848 -0.008 -0.00610579576 0.00107668848 0.008 -0.00610579576 0.00251806176 -0.008 -0.0142796836 0.00251806176 0.008 -0.0142796836 0.00495945335 -0.008 -0.0136254843 0.00495945335 0.008 -0.0136254843 0.00212059385 -0.008 -0.00582606915 0.00212059385 0.008 -0.00582606915"/><mesh name="B_h29" vertex="0.00212059385 -0.008 -0.00582606915 0.00212059385 0.008 -0.00582606915 0.00495945335 -0.008 -0.0136254843 0.00495945335 0.008 -0.0136254843 0.00725015375 -0.008 -0.0125572796 0.00725015375 0.008 -0.0125572796 0.00310006574 -0.008 -0.00536931955 0.00310006574 0.008 -0.00536931955"/><mesh name="B_h30" vertex="0.00310006574 -0.008 -0.00536931955 0.00310006574 0.008 -0.00536931955 0.00725015375 -0.008 -0.0125572796 0.00725015375 0.008 -0.0125572796 0.00932056088 -0.008 -0.0111075265 0.00932056088 0.008 -0.0111075265 0.00398534327 -0.008 -0.00474942512 0.00398534327 0.008 -0.00474942512"/><mesh name="B_h31" vertex="0.00398534327 -0.008 -0.00474942512 0.00398534327 0.008 -0.00474942512 0.00932056088 -0.008 -0.0111075265 0.00932056088 0.008 -0.0111075265 0.0111077662 -0.008 -0.00932027527 0.0111077662 0.008 -0.00932027527 0.0047495276 -0.008 -0.00398522115 0.0047495276 0.008 -0.00398522115"/><mesh name="B_h32" vertex="0.0047495276 -0.008 -0.00398522115 0.0047495276 0.008 -0.00398522115 0.0111077662 -0.008 -0.00932027527 0.0111077662 0.008 -0.00932027527 0.012557466 -0.008 -0.00724983087 0.012557466 0.008 -0.00724983087 0.00536939926 -0.008 -0.00309992768 0.00536939926 0.008 -0.00309992768"/><mesh name="B_h33" vertex="0.00536939926 -0.008 -0.00309992768 0.00536939926 0.008 -0.00309992768 0.012557466 -0.008 -0.00724983087 0.012557466 0.008 -0.00724983087 0.0136256118 -0.008 -0.004959103 0.0136256118 0.008 -0.004959103 0.00582612367 -0.008 -0.00212044404 0.00582612367 0.008 -0.00212044404"/><mesh name="B_h34" vertex="0.00582612367 -0.008 -0.00212044404 0.00582612367 0.008 -0.00212044404 0.0136256118 -0.008 -0.004959103 0.0136256118 0.008 -0.004959103 0.0142797484 -0.008 -0.00251769459 0.0142797484 0.008 -0.00251769459 0.00610582345 -0.008 -0.00107653148 0.00610582345 0.008 -0.00107653148"/><mesh name="B_h35" vertex="0.00610582345 -0.008 -0.00107653148 0.00610582345 0.008 -0.00107653148 0.0142797484 -0.008 -0.00251769459 0.0142797484 0.008 -0.00251769459 0.0145 -0.008 2.13045896e-7 0.0145 0.008 2.13045896e-7 0.0062 -0.008 9.10954866e-8 0.0062 0.008 9.10954866e-8"/><mesh name="B_h36" vertex="0.042 -0.008 -0.006331 0.042 0.008 -0.006331 0.042 -0.008 0.006331 0.042 0.008 0.006331 0.0522 -0.008 0.002618 0.0522 0.008 0.002618 0.0522 -0.008 -0.002618 0.0522 0.008 -0.002618"/><mesh name="B_h37" vertex="0.041226 -0.008 0.010224 0.041226 0.008 0.010224 0.03638 -0.008 0.021922 0.03638 0.008 0.021922 0.047225 -0.008 0.022395 0.047225 0.008 0.022395 0.049228 -0.008 0.017557 0.049228 0.008 0.017557"/><mesh name="B_h38" vertex="0.034175 -0.008 0.025222 0.034175 0.008 0.025222 0.025222 -0.008 0.034175 0.025222 0.008 0.034175 0.03506 -0.008 0.038762 0.03506 0.008 0.038762 0.038762 -0.008 0.03506 0.038762 0.008 0.03506"/><mesh name="B_h39" vertex="0.021922 -0.008 0.03638 0.021922 0.008 0.03638 0.010224 -0.008 0.041226 0.010224 0.008 0.041226 0.017557 -0.008 0.049228 0.017557 0.008 0.049228 0.022395 -0.008 0.047225 0.022395 0.008 0.047225"/><mesh name="B_h40" vertex="0.006331 -0.008 0.042 0.006331 0.008 0.042 -0.006331 -0.008 0.042 -0.006331 0.008 0.042 -0.002618 -0.008 0.0522 -0.002618 0.008 0.0522 0.002618 -0.008 0.0522 0.002618 0.008 0.0522"/><mesh name="B_h41" vertex="-0.010224 -0.008 0.041226 -0.010224 0.008 0.041226 -0.021922 -0.008 0.03638 -0.021922 0.008 0.03638 -0.022395 -0.008 0.047225 -0.022395 0.008 0.047225 -0.017557 -0.008 0.049228 -0.017557 0.008 0.049228"/><mesh name="B_h42" vertex="-0.025222 -0.008 0.034175 -0.025222 0.008 0.034175 -0.034175 -0.008 0.025222 -0.034175 0.008 0.025222 -0.038762 -0.008 0.03506 -0.038762 0.008 0.03506 -0.03506 -0.008 0.038762 -0.03506 0.008 0.038762"/><mesh name="B_h43" vertex="-0.03638 -0.008 0.021922 -0.03638 0.008 0.021922 -0.041226 -0.008 0.010224 -0.041226 0.008 0.010224 -0.049228 -0.008 0.017557 -0.049228 0.008 0.017557 -0.047225 -0.008 0.022395 -0.047225 0.008 0.022395"/><mesh name="B_h44" vertex="-0.042 -0.008 0.006331 -0.042 0.008 0.006331 -0.042 -0.008 -0.006331 -0.042 0.008 -0.006331 -0.0522 -0.008 -0.002618 -0.0522 0.008 -0.002618 -0.0522 -0.008 0.002618 -0.0522 0.008 0.002618"/><mesh name="B_h45" vertex="-0.041226 -0.008 -0.010224 -0.041226 0.008 -0.010224 -0.03638 -0.008 -0.021922 -0.03638 0.008 -0.021922 -0.047225 -0.008 -0.022395 -0.047225 0.008 -0.022395 -0.049228 -0.008 -0.017557 -0.049228 0.008 -0.017557"/><mesh name="B_h46" vertex="-0.034175 -0.008 -0.025222 -0.034175 0.008 -0.025222 -0.025222 -0.008 -0.034175 -0.025222 0.008 -0.034175 -0.03506 -0.008 -0.038762 -0.03506 0.008 -0.038762 -0.038762 -0.008 -0.03506 -0.038762 0.008 -0.03506"/><mesh name="B_h47" vertex="-0.021922 -0.008 -0.03638 -0.021922 0.008 -0.03638 -0.010224 -0.008 -0.041226 -0.010224 0.008 -0.041226 -0.017557 -0.008 -0.049228 -0.017557 0.008 -0.049228 -0.022395 -0.008 -0.047225 -0.022395 0.008 -0.047225"/><mesh name="B_h48" vertex="-0.006331 -0.008 -0.042 -0.006331 0.008 -0.042 0.006331 -0.008 -0.042 0.006331 0.008 -0.042 0.002618 -0.008 -0.0522 0.002618 0.008 -0.0522 -0.002618 -0.008 -0.0522 -0.002618 0.008 -0.0522"/><mesh name="B_h49" vertex="0.010224 -0.008 -0.041226 0.010224 0.008 -0.041226 0.021922 -0.008 -0.03638 0.021922 0.008 -0.03638 0.022395 -0.008 -0.047225 0.022395 0.008 -0.047225 0.017557 -0.008 -0.049228 0.017557 0.008 -0.049228"/><mesh name="B_h50" vertex="0.025222 -0.008 -0.034175 0.025222 0.008 -0.034175 0.034175 -0.008 -0.025222 0.034175 0.008 -0.025222 0.038762 -0.008 -0.03506 0.038762 0.008 -0.03506 0.03506 -0.008 -0.038762 0.03506 0.008 -0.038762"/><mesh name="B_h51" vertex="0.03638 -0.008 -0.021922 0.03638 0.008 -0.021922 0.041226 -0.008 -0.010224 0.041226 0.008 -0.010224 0.049228 -0.008 -0.017557 0.049228 0.008 -0.017557 0.047225 -0.008 -0.022395 0.047225 0.008 -0.022395"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h2" type="mesh" mesh="frame_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h3" type="mesh" mesh="frame_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h4" type="mesh" mesh="frame_h4" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h5" type="mesh" mesh="frame_h5" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h6" type="mesh" mesh="frame_h6" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h7" type="mesh" mesh="frame_h7" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h8" type="mesh" mesh="frame_h8" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h9" type="mesh" mesh="frame_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h10" type="mesh" mesh="frame_h10" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h11" type="mesh" mesh="frame_h11" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h12" type="mesh" mesh="frame_h12" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h13" type="mesh" mesh="frame_h13" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h14" type="mesh" mesh="frame_h14" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h15" type="mesh" mesh="frame_h15" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h16" type="mesh" mesh="frame_h16" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h17" type="mesh" mesh="frame_h17" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h18" type="mesh" mesh="frame_h18" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h19" type="mesh" mesh="frame_h19" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h20" type="mesh" mesh="frame_h20" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h21" type="mesh" mesh="frame_h21" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h22" type="mesh" mesh="frame_h22" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h23" type="mesh" mesh="frame_h23" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h24" type="mesh" mesh="frame_h24" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h25" type="mesh" mesh="frame_h25" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h26" type="mesh" mesh="frame_h26" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h27" type="mesh" mesh="frame_h27" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h28" type="mesh" mesh="frame_h28" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h29" type="mesh" mesh="frame_h29" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h30" type="mesh" mesh="frame_h30" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h31" type="mesh" mesh="frame_h31" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h32" type="mesh" mesh="frame_h32" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h33" type="mesh" mesh="frame_h33" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="Bx" pos="0.048 0 0"><joint name="j_bx" type="slide" axis="1 0 0" damping="0.2" frictionloss="0" range="-0.106 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.00025 0" mass="0.01" fullinertia="2.708333333e-9 5e-9 2.708333333e-9 0 0 0"/><body name="Bz" pos="0 0 0"><joint name="j_bz" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="-0.058 0.058" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.00025 0" mass="0.01" fullinertia="2.708333333e-9 5e-9 2.708333333e-9 0 0 0"/><body name="B" pos="0 0 0"><joint name="j_B" type="hinge" axis="0 -1 0" damping="0.003" frictionloss="0"/><inertial pos="-0.0009292300873 -0.0004017025401 0" mass="0.8856507925" fullinertia="0.0005191446112 0.001026338222 0.0005511398831 -0.000008772497813 0 0"/><geom name="B_h0" type="mesh" mesh="B_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h1" type="mesh" mesh="B_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h2" type="mesh" mesh="B_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h3" type="mesh" mesh="B_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h4" type="mesh" mesh="B_h4" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h5" type="mesh" mesh="B_h5" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h6" type="mesh" mesh="B_h6" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h7" type="mesh" mesh="B_h7" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h8" type="mesh" mesh="B_h8" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h9" type="mesh" mesh="B_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h10" type="mesh" mesh="B_h10" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h11" type="mesh" mesh="B_h11" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h12" type="mesh" mesh="B_h12" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h13" type="mesh" mesh="B_h13" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h14" type="mesh" mesh="B_h14" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h15" type="mesh" mesh="B_h15" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h16" type="mesh" mesh="B_h16" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h17" type="mesh" mesh="B_h17" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h18" type="mesh" mesh="B_h18" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h19" type="mesh" mesh="B_h19" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h20" type="mesh" mesh="B_h20" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h21" type="mesh" mesh="B_h21" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h22" type="mesh" mesh="B_h22" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h23" type="mesh" mesh="B_h23" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h24" type="mesh" mesh="B_h24" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h25" type="mesh" mesh="B_h25" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h26" type="mesh" mesh="B_h26" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h27" type="mesh" mesh="B_h27" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h28" type="mesh" mesh="B_h28" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h29" type="mesh" mesh="B_h29" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h30" type="mesh" mesh="B_h30" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h31" type="mesh" mesh="B_h31" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h32" type="mesh" mesh="B_h32" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h33" type="mesh" mesh="B_h33" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h34" type="mesh" mesh="B_h34" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h35" type="mesh" mesh="B_h35" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h36" type="mesh" mesh="B_h36" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h37" type="mesh" mesh="B_h37" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h38" type="mesh" mesh="B_h38" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h39" type="mesh" mesh="B_h39" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h40" type="mesh" mesh="B_h40" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h41" type="mesh" mesh="B_h41" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h42" type="mesh" mesh="B_h42" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h43" type="mesh" mesh="B_h43" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h44" type="mesh" mesh="B_h44" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h45" type="mesh" mesh="B_h45" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h46" type="mesh" mesh="B_h46" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h47" type="mesh" mesh="B_h47" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h48" type="mesh" mesh="B_h48" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h49" type="mesh" mesh="B_h49" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h50" type="mesh" mesh="B_h50" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="B_h51" type="mesh" mesh="B_h51" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</body>
<body name="Px" pos="0 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.2" frictionloss="0" range="-0.01 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.01475 0" mass="0.01" fullinertia="2.708333333e-9 5e-9 2.708333333e-9 0 0 0"/><body name="Pz" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.2" frictionloss="0" range="-0.104 0.104" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.01475 0" mass="0.01" fullinertia="2.708333333e-9 5e-9 2.708333333e-9 0 0 0"/><body name="P" pos="0 0 0"><joint name="j_rot" type="hinge" axis="0 -1 0" damping="0.02" frictionloss="0"/><inertial pos="0 -0.01655599801 0.1052284719" mass="0.0984587704" fullinertia="0.0005003925054 0.0005004863139 9.157799087e-7 0 0 -5.801766648e-7"/><geom name="P_h0" type="capsule" fromto="0 -0.0165 0.007 0 -0.0165 0.23" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</body>
</body>
<body name="C" pos="0 0 0"><joint name="j_C" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.00091552045 0.03191339862 0" mass="0.878767051" fullinertia="0.007100466179 0.01287016644 0.007138347018 0.00002527299665 0 0"/><geom name="C_h0" type="mesh" mesh="C_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="wrist" body1="B" body2="P" anchor="-0.048 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="B" body2="P"/></contact>
<actuator><velocity name="drive" joint="j_C" kv="0.5" forcerange="-5 5"/></actuator>
</mujoco>
