<mujoco model="397-shuttle-dwell-lever">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0.06 0 0.175"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.01889650288 -0.01606974887 0.01180796227" mass="0.6386828651" fullinertia="0.0003481995068 0.0007671353191 0.0006091971154 -0.00001915513375 0.0002675682351 0.00001196957436"/><geom name="crank_h0" type="capsule" fromto="-0.076324 -0.019 0.047693 -0.076324 0.009 0.047693" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="0 0 0"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0" range="-0.15 1.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.001486183826 0.006837495833 0.1643573433" mass="2.270949512" fullinertia="0.02271556518 0.02352399942 0.00110668695 -0.00007658624385 -0.0003890522943 0.0001266600303"/><geom name="lever_h0" type="capsule" fromto="0.014422 -0.005 0.08179 0.010592 -0.005 0.085004" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h1" type="capsule" fromto="0.014422 0.005 0.08179 0.010592 0.005 0.085004" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h2" type="capsule" fromto="0.010592 -0.005 0.085004 0.006762 -0.005 0.088218" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h3" type="capsule" fromto="0.010592 0.005 0.085004 0.006762 0.005 0.088218" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h4" type="capsule" fromto="0.006762 -0.005 0.088218 0.002932 -0.005 0.091431" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h5" type="capsule" fromto="0.006762 0.005 0.088218 0.002932 0.005 0.091431" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h6" type="capsule" fromto="0.002932 -0.005 0.091431 -0.000898 -0.005 0.094645" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h7" type="capsule" fromto="0.002932 0.005 0.091431 -0.000898 0.005 0.094645" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h8" type="capsule" fromto="-0.000898 -0.005 0.094645 -0.004945 -0.005 0.098046" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h9" type="capsule" fromto="-0.000898 0.005 0.094645 -0.004945 0.005 0.098046" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h10" type="capsule" fromto="-0.004945 -0.005 0.098046 -0.011206 -0.005 0.103794" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h11" type="capsule" fromto="-0.004945 0.005 0.098046 -0.011206 0.005 0.103794" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h12" type="capsule" fromto="-0.011206 -0.005 0.103794 -0.017141 -0.005 0.110271" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h13" type="capsule" fromto="-0.011206 0.005 0.103794 -0.017141 0.005 0.110271" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h14" type="capsule" fromto="-0.017141 -0.005 0.110271 -0.022489 -0.005 0.117241" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h15" type="capsule" fromto="-0.017141 0.005 0.110271 -0.022489 0.005 0.117241" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h16" type="capsule" fromto="-0.022489 -0.005 0.117241 -0.027209 -0.005 0.12465" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h17" type="capsule" fromto="-0.022489 0.005 0.117241 -0.027209 0.005 0.12465" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h18" type="capsule" fromto="-0.027209 -0.005 0.12465 -0.031265 -0.005 0.132442" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h19" type="capsule" fromto="-0.027209 0.005 0.12465 -0.031265 0.005 0.132442" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h20" type="capsule" fromto="-0.031265 -0.005 0.132442 -0.034627 -0.005 0.140559" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h21" type="capsule" fromto="-0.031265 0.005 0.132442 -0.034627 0.005 0.140559" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h22" type="capsule" fromto="-0.034627 -0.005 0.140559 -0.037269 -0.005 0.148937" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h23" type="capsule" fromto="-0.034627 0.005 0.140559 -0.037269 0.005 0.148937" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h24" type="capsule" fromto="-0.037269 -0.005 0.148937 -0.03917 -0.005 0.157514" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h25" type="capsule" fromto="-0.037269 0.005 0.148937 -0.03917 0.005 0.157514" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h26" type="capsule" fromto="-0.03917 -0.005 0.157514 -0.040317 -0.005 0.166223" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h27" type="capsule" fromto="-0.03917 0.005 0.157514 -0.040317 0.005 0.166223" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h28" type="capsule" fromto="-0.040317 -0.005 0.166223 -0.0407 -0.005 0.175" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h29" type="capsule" fromto="-0.040317 0.005 0.166223 -0.0407 0.005 0.175" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h30" type="capsule" fromto="-0.0407 -0.005 0.175 -0.040317 -0.005 0.183777" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h31" type="capsule" fromto="-0.0407 0.005 0.175 -0.040317 0.005 0.183777" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h32" type="capsule" fromto="-0.040317 -0.005 0.183777 -0.03917 -0.005 0.192486" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h33" type="capsule" fromto="-0.040317 0.005 0.183777 -0.03917 0.005 0.192486" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h34" type="capsule" fromto="-0.03917 -0.005 0.192486 -0.037269 -0.005 0.201063" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h35" type="capsule" fromto="-0.03917 0.005 0.192486 -0.037269 0.005 0.201063" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h36" type="capsule" fromto="-0.037269 -0.005 0.201063 -0.034627 -0.005 0.209441" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h37" type="capsule" fromto="-0.037269 0.005 0.201063 -0.034627 0.005 0.209441" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h38" type="capsule" fromto="-0.034627 -0.005 0.209441 -0.031265 -0.005 0.217558" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h39" type="capsule" fromto="-0.034627 0.005 0.209441 -0.031265 0.005 0.217558" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h40" type="capsule" fromto="-0.031265 -0.005 0.217558 -0.027209 -0.005 0.22535" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h41" type="capsule" fromto="-0.031265 0.005 0.217558 -0.027209 0.005 0.22535" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h42" type="capsule" fromto="-0.027209 -0.005 0.22535 -0.022489 -0.005 0.232759" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h43" type="capsule" fromto="-0.027209 0.005 0.22535 -0.022489 0.005 0.232759" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h44" type="capsule" fromto="-0.022489 -0.005 0.232759 -0.017271 -0.005 0.23957" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h45" type="capsule" fromto="-0.022489 0.005 0.232759 -0.017271 0.005 0.23957" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h46" type="capsule" fromto="-0.017271 -0.005 0.23957 -0.010713 -0.005 0.247389" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h47" type="capsule" fromto="-0.017271 0.005 0.23957 -0.010713 0.005 0.247389" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h48" type="capsule" fromto="-0.010713 -0.005 0.247389 -0.004285 -0.005 0.25505" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h49" type="capsule" fromto="-0.010713 0.005 0.247389 -0.004285 0.005 0.25505" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h50" type="capsule" fromto="-0.004285 -0.005 0.25505 0.002143 -0.005 0.26271" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h51" type="capsule" fromto="-0.004285 0.005 0.25505 0.002143 0.005 0.26271" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h52" type="capsule" fromto="0.002143 -0.005 0.26271 0.008571 -0.005 0.27037" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h53" type="capsule" fromto="0.002143 0.005 0.26271 0.008571 0.005 0.27037" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h54" type="capsule" fromto="0.008571 -0.005 0.27037 0.014999 -0.005 0.278031" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h55" type="capsule" fromto="0.008571 0.005 0.27037 0.014999 0.005 0.278031" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h56" type="capsule" fromto="0.014999 -0.005 0.278031 0.021427 -0.005 0.285691" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h57" type="capsule" fromto="0.014999 0.005 0.278031 0.021427 0.005 0.285691" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h58" type="capsule" fromto="0.021427 -0.005 0.285691 0.027854 -0.005 0.293352" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h59" type="capsule" fromto="0.021427 0.005 0.285691 0.027854 0.005 0.293352" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h60" type="capsule" fromto="0.028178 -0.005 0.098183 0.024348 -0.005 0.101397" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h61" type="capsule" fromto="0.028178 0.005 0.098183 0.024348 0.005 0.101397" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h62" type="capsule" fromto="0.024348 -0.005 0.101397 0.020518 -0.005 0.104611" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h63" type="capsule" fromto="0.024348 0.005 0.101397 0.020518 0.005 0.104611" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h64" type="capsule" fromto="0.020518 -0.005 0.104611 0.016687 -0.005 0.107825" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h65" type="capsule" fromto="0.020518 0.005 0.104611 0.016687 0.005 0.107825" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h66" type="capsule" fromto="0.016687 -0.005 0.107825 0.012857 -0.005 0.111039" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h67" type="capsule" fromto="0.016687 0.005 0.107825 0.012857 0.005 0.111039" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h68" type="capsule" fromto="0.012857 -0.005 0.111039 0.009243 -0.005 0.114066" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h69" type="capsule" fromto="0.012857 0.005 0.111039 0.009243 0.005 0.114066" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h70" type="capsule" fromto="0.009243 -0.005 0.114066 0.003926 -0.005 0.118926" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h71" type="capsule" fromto="0.009243 0.005 0.114066 0.003926 0.005 0.118926" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h72" type="capsule" fromto="0.003926 -0.005 0.118926 -0.000747 -0.005 0.124027" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h73" type="capsule" fromto="0.003926 0.005 0.118926 -0.000747 0.005 0.124027" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h74" type="capsule" fromto="-0.000747 -0.005 0.124027 -0.004959 -0.005 0.129515" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h75" type="capsule" fromto="-0.000747 0.005 0.124027 -0.004959 0.005 0.129515" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h76" type="capsule" fromto="-0.004959 -0.005 0.129515 -0.008676 -0.005 0.13535" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h77" type="capsule" fromto="-0.004959 0.005 0.129515 -0.008676 0.005 0.13535" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h78" type="capsule" fromto="-0.008676 -0.005 0.13535 -0.01187 -0.005 0.141486" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h79" type="capsule" fromto="-0.008676 0.005 0.13535 -0.01187 0.005 0.141486" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h80" type="capsule" fromto="-0.01187 -0.005 0.141486 -0.014518 -0.005 0.147878" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h81" type="capsule" fromto="-0.01187 0.005 0.141486 -0.014518 0.005 0.147878" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h82" type="capsule" fromto="-0.014518 -0.005 0.147878 -0.016598 -0.005 0.154476" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h83" type="capsule" fromto="-0.014518 0.005 0.147878 -0.016598 0.005 0.154476" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h84" type="capsule" fromto="-0.016598 -0.005 0.154476 -0.018095 -0.005 0.16123" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h85" type="capsule" fromto="-0.016598 0.005 0.154476 -0.018095 0.005 0.16123" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h86" type="capsule" fromto="-0.018095 -0.005 0.16123 -0.018998 -0.005 0.168089" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h87" type="capsule" fromto="-0.018095 0.005 0.16123 -0.018998 0.005 0.168089" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h88" type="capsule" fromto="-0.018998 -0.005 0.168089 -0.0193 -0.005 0.175" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h89" type="capsule" fromto="-0.018998 0.005 0.168089 -0.0193 0.005 0.175" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h90" type="capsule" fromto="-0.0193 -0.005 0.175 -0.018998 -0.005 0.181911" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h91" type="capsule" fromto="-0.0193 0.005 0.175 -0.018998 0.005 0.181911" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h92" type="capsule" fromto="-0.018998 -0.005 0.181911 -0.018095 -0.005 0.18877" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h93" type="capsule" fromto="-0.018998 0.005 0.181911 -0.018095 0.005 0.18877" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h94" type="capsule" fromto="-0.018095 -0.005 0.18877 -0.016598 -0.005 0.195524" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h95" type="capsule" fromto="-0.018095 0.005 0.18877 -0.016598 0.005 0.195524" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h96" type="capsule" fromto="-0.016598 -0.005 0.195524 -0.014518 -0.005 0.202122" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h97" type="capsule" fromto="-0.016598 0.005 0.195524 -0.014518 0.005 0.202122" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h98" type="capsule" fromto="-0.014518 -0.005 0.202122 -0.01187 -0.005 0.208514" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h99" type="capsule" fromto="-0.014518 0.005 0.202122 -0.01187 0.005 0.208514" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h100" type="capsule" fromto="-0.01187 -0.005 0.208514 -0.008676 -0.005 0.21465" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h101" type="capsule" fromto="-0.01187 0.005 0.208514 -0.008676 0.005 0.21465" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h102" type="capsule" fromto="-0.008676 -0.005 0.21465 -0.004959 -0.005 0.220485" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h103" type="capsule" fromto="-0.008676 0.005 0.21465 -0.004959 0.005 0.220485" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h104" type="capsule" fromto="-0.004959 -0.005 0.220485 -0.000617 -0.005 0.226132" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h105" type="capsule" fromto="-0.004959 0.005 0.220485 -0.000617 0.005 0.226132" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h106" type="capsule" fromto="-0.000617 -0.005 0.226132 0.005681 -0.005 0.233634" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h107" type="capsule" fromto="-0.000617 0.005 0.226132 0.005681 0.005 0.233634" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h108" type="capsule" fromto="0.005681 -0.005 0.233634 0.012108 -0.005 0.241294" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h109" type="capsule" fromto="0.005681 0.005 0.233634 0.012108 0.005 0.241294" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h110" type="capsule" fromto="0.012108 -0.005 0.241294 0.018536 -0.005 0.248954" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h111" type="capsule" fromto="0.012108 0.005 0.241294 0.018536 0.005 0.248954" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h112" type="capsule" fromto="0.018536 -0.005 0.248954 0.024964 -0.005 0.256615" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h113" type="capsule" fromto="0.018536 0.005 0.248954 0.024964 0.005 0.256615" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h114" type="capsule" fromto="0.024964 -0.005 0.256615 0.031392 -0.005 0.264275" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h115" type="capsule" fromto="0.024964 0.005 0.256615 0.031392 0.005 0.264275" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h116" type="capsule" fromto="0.031392 -0.005 0.264275 0.03782 -0.005 0.271936" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h117" type="capsule" fromto="0.031392 0.005 0.264275 0.03782 0.005 0.271936" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h118" type="capsule" fromto="0.03782 -0.005 0.271936 0.044248 -0.005 0.279596" 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 0.001" margin="0" group="2" mass="0"/><geom name="lever_h119" type="capsule" fromto="0.03782 0.005 0.271936 0.044248 0.005 0.279596" 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 0.001" margin="0" group="2" mass="0"/><body name="link" pos="0 0 0.32"><joint name="j_lk" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.085 -0.002 0" mass="0.2099538937" fullinertia="0.000005793727685 0.0008014739946 0.0007990195336 0 0 0"/></body>
</body>
<body name="table" pos="0 0 0.35"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.001803652968 0.0001643835616 -0.0003287671233" mass="0.63072" fullinertia="0.0001984197436 0.009899396791 0.0100745212 0.00001781260274 -0.00003562520548 0.000001832153425"/></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="p_tab" body1="link" body2="table" anchor="-0.17 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="table"/></contact>
<actuator><velocity name="drive" joint="j_c" kv="20" forcerange="-50 50"/></actuator>
</mujoco>
