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group="2" mass="0"/><body name="l7" pos="0 0 -0.0185"><joint name="j_7" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l7_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l8" pos="0 0 -0.0185"><joint name="j_8" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l8_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l9" pos="0 0 -0.0185"><joint name="j_9" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l9_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l10" pos="0 0 -0.0185"><joint name="j_10" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l10_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l11" pos="0 0 -0.0185"><joint name="j_11" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l11_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l12" pos="0 0 -0.0185"><joint name="j_12" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l12_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l13" pos="0 0 -0.0185"><joint name="j_13" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l13_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l14" pos="0 0 -0.0185"><joint name="j_14" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l14_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l15" pos="0 0 -0.0185"><joint name="j_15" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l15_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l16" pos="0 0 -0.0185"><joint name="j_16" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l16_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l17" pos="0 0 -0.0185"><joint name="j_17" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l17_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l18" pos="0 0 -0.0185"><joint name="j_18" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.00925" mass="0.002" fullinertia="5.816666667e-8 5.816666667e-8 2.25e-9 0 0 0"/><geom name="l18_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="l19" pos="0 0 -0.0185"><joint name="j_19" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0 -0.04842450746" mass="0.5" fullinertia="0.0001377441197 0.0002260739009 0.000136238541 0 0 0"/><geom name="l19_h0" type="capsule" fromto="0 0 0 0 0 -0.0185" size="0.0015" contype="8" conaffinity="16" condim="3" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="l19_h1" type="mesh" mesh="l19_h1" contype="16" conaffinity="8" condim="3" friction="0.3 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>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="hand" pos="-0.04 0 -0.4"><joint name="j_hand" type="slide" axis="1 0 0" damping="4" frictionloss="0" range="-0.46 0.36" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="200" springref="0"/><inertial pos="-0.005 -0.004276038477 0.04212477858" mass="0.05" fullinertia="0.0001004170495 0.00008515217887 0.0000160629097 0 0 -0.000009006358703"/><geom name="hand_h0" type="mesh" mesh="hand_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"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="drive" joint="j_0" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
