<mujoco model="430-overshot-water-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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margin="0" group="2" mass="0"/><geom name="wheel_h35" type="mesh" mesh="wheel_h35" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="race" pos="0 0 0"><geom name="race_h0" type="mesh" mesh="race_h0" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="wx0" pos="0.028682 0 0.231021"><joint name="jx0" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.278682 0.117318" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w0" pos="0 0 0"><joint name="jz0" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w0_h0" type="mesh" mesh="w0_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx1" pos="0.028568 0 0.231021"><joint name="jx1" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.278568 0.117432" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w1" pos="0 0 0"><joint name="jz1" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w1_h0" type="mesh" mesh="w1_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx2" pos="0.028415 0 0.231021"><joint name="jx2" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.278415 0.117585" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w2" pos="0 0 0"><joint name="jz2" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w2_h0" type="mesh" mesh="w2_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx3" pos="0.028223 0 0.231021"><joint name="jx3" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.278223 0.117777" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w3" pos="0 0 0"><joint name="jz3" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w3_h0" type="mesh" mesh="w3_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx4" pos="0.027994 0 0.231021"><joint name="jx4" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.277994 0.118006" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w4" pos="0 0 0"><joint name="jz4" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w4_h0" type="mesh" mesh="w4_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx5" pos="0.027725 0 0.231021"><joint name="jx5" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.277725 0.118275" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w5" pos="0 0 0"><joint name="jz5" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222021 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w5_h0" type="mesh" mesh="w5_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx6" pos="0.027418 0 0.231022"><joint name="jx6" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.277418 0.118582" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w6" pos="0 0 0"><joint name="jz6" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222022 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w6_h0" type="mesh" mesh="w6_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx7" pos="0.027073 0 0.231022"><joint name="jx7" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.277073 0.118927" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w7" pos="0 0 0"><joint name="jz7" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222022 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w7_h0" type="mesh" mesh="w7_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx8" pos="0.026689 0 0.231022"><joint name="jx8" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.276689 0.119311" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w8" pos="0 0 0"><joint name="jz8" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222022 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w8_h0" type="mesh" mesh="w8_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx9" pos="0.026266 0 0.231022"><joint name="jx9" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.276266 0.119734" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w9" pos="0 0 0"><joint name="jz9" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222022 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w9_h0" type="mesh" mesh="w9_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="wx10" pos="0.025806 0 0.231023"><joint name="jx10" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.275806 0.120194" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w10" pos="0 0 0"><joint name="jz10" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222023 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w10_h0" type="mesh" mesh="w10_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx11" pos="0.025306 0 0.231023"><joint name="jx11" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.275306 0.120694" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w11" pos="0 0 0"><joint name="jz11" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222023 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w11_h0" type="mesh" mesh="w11_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx12" pos="0.024768 0 0.231023"><joint name="jx12" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.274768 0.121232" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w12" pos="0 0 0"><joint name="jz12" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222023 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w12_h0" type="mesh" mesh="w12_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
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<body name="wx98" pos="-0.165494 0 0.231137"><joint name="jx98" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.084506 0.311494" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w98" pos="0 0 0"><joint name="jz98" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222137 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w98_h0" type="mesh" mesh="w98_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx99" pos="-0.169381 0 0.23114"><joint name="jx99" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.080619 0.315381" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w99" pos="0 0 0"><joint name="jz99" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.22214 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w99_h0" type="mesh" mesh="w99_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx100" pos="-0.173307 0 0.231142"><joint name="jx100" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.076693 0.319307" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w100" pos="0 0 0"><joint name="jz100" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222142 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w100_h0" type="mesh" mesh="w100_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx101" pos="-0.17727 0 0.231144"><joint name="jx101" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.07273 0.32327" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w101" pos="0 0 0"><joint name="jz101" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222144 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w101_h0" type="mesh" mesh="w101_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx102" pos="-0.181273 0 0.231147"><joint name="jx102" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.068727 0.327273" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w102" pos="0 0 0"><joint name="jz102" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222147 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w102_h0" type="mesh" mesh="w102_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx103" pos="-0.185313 0 0.231149"><joint name="jx103" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.064687 0.331313" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w103" pos="0 0 0"><joint name="jz103" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222149 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w103_h0" type="mesh" mesh="w103_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx104" pos="-0.189393 0 0.231152"><joint name="jx104" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.060607 0.335393" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w104" pos="0 0 0"><joint name="jz104" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222152 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w104_h0" type="mesh" mesh="w104_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx105" pos="-0.193511 0 0.231154"><joint name="jx105" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.056489 0.339511" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w105" pos="0 0 0"><joint name="jz105" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222154 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w105_h0" type="mesh" mesh="w105_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx106" pos="-0.197667 0 0.231157"><joint name="jx106" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.052333 0.343667" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w106" pos="0 0 0"><joint name="jz106" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222157 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w106_h0" type="mesh" mesh="w106_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx107" pos="-0.201862 0 0.231159"><joint name="jx107" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.048138 0.347862" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w107" pos="0 0 0"><joint name="jz107" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222159 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w107_h0" type="mesh" mesh="w107_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx108" pos="-0.206095 0 0.231162"><joint name="jx108" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.043905 0.352095" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w108" pos="0 0 0"><joint name="jz108" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222162 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w108_h0" type="mesh" mesh="w108_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx109" pos="-0.210367 0 0.231164"><joint name="jx109" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.039633 0.356367" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w109" pos="0 0 0"><joint name="jz109" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222164 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w109_h0" type="mesh" mesh="w109_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx110" pos="-0.214677 0 0.231167"><joint name="jx110" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.035323 0.360677" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w110" pos="0 0 0"><joint name="jz110" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222167 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w110_h0" type="mesh" mesh="w110_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx111" pos="-0.219026 0 0.231169"><joint name="jx111" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.030974 0.365026" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w111" pos="0 0 0"><joint name="jz111" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222169 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w111_h0" type="mesh" mesh="w111_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx112" pos="-0.223413 0 0.231172"><joint name="jx112" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.026587 0.369413" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w112" pos="0 0 0"><joint name="jz112" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222172 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w112_h0" type="mesh" mesh="w112_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx113" pos="-0.227839 0 0.231175"><joint name="jx113" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.022161 0.373839" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w113" pos="0 0 0"><joint name="jz113" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222175 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w113_h0" type="mesh" mesh="w113_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx114" pos="-0.232303 0 0.231177"><joint name="jx114" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.017697 0.378303" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w114" pos="0 0 0"><joint name="jz114" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.222177 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w114_h0" type="mesh" mesh="w114_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx115" pos="-0.236806 0 0.23118"><joint name="jx115" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.013194 0.382806" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06005 0" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w115" pos="0 0 0"><joint name="jz115" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.22218 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007037167544" fullinertia="1.430890734e-8 5.629734035e-9 1.430890734e-8 0 0 0"/><geom name="w115_h0" type="mesh" mesh="w115_h0" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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_w" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
