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</body>
</body>
</body>
</body>
<body name="K" pos="0 0 0"><joint name="j_K" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0008702895509 0.02585839189 0" mass="0.7450007182" fullinertia="0.001464377217 0.002887835971 0.001480726444 0.0000128550119 0 0"/><geom name="K_h0" type="mesh" mesh="K_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"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_K" kv="0.5" forcerange="-5 5"/></actuator>
</mujoco>
