<mujoco model="431-undershot-water-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0004" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<size memory="64M"/>
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</body>
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</body>
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</body>
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</body>
<body name="wx8" pos="-0.135837 0 0.07502"><joint name="jx8" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.334163 0.290837" 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="-0.05852 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w8_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx9" pos="-0.135984 0 0.07502"><joint name="jx9" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.334016 0.290984" 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="-0.05852 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w9_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx10" pos="-0.136143 0 0.075021"><joint name="jx10" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.333857 0.291143" 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="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w10_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="-0.136314 0 0.075021"><joint name="jx11" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.333686 0.291314" 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="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w11_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="-0.136497 0 0.075021"><joint name="jx12" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.333503 0.291497" 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="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w12_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx13" pos="-0.136692 0 0.075021"><joint name="jx13" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.333308 0.291692" 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="w13" pos="0 0 0"><joint name="jz13" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w13_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx14" pos="-0.136898 0 0.075021"><joint name="jx14" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.333102 0.291898" 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="w14" pos="0 0 0"><joint name="jz14" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w14_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx15" pos="-0.137117 0 0.075021"><joint name="jx15" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.332883 0.292117" 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="w15" pos="0 0 0"><joint name="jz15" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w15_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx16" pos="-0.137348 0 0.075021"><joint name="jx16" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.332652 0.292348" 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="w16" pos="0 0 0"><joint name="jz16" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w16_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx17" pos="-0.13759 0 0.075021"><joint name="jx17" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.33241 0.29259" 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="w17" pos="0 0 0"><joint name="jz17" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w17_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx18" pos="-0.137844 0 0.075021"><joint name="jx18" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.332156 0.292844" 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="w18" pos="0 0 0"><joint name="jz18" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w18_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx19" pos="-0.138111 0 0.075021"><joint name="jx19" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.331889 0.293111" 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="w19" pos="0 0 0"><joint name="jz19" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058521 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w19_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx20" pos="-0.138389 0 0.075022"><joint name="jx20" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.331611 0.293389" 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="w20" pos="0 0 0"><joint name="jz20" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058522 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w20_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx21" pos="-0.138679 0 0.075022"><joint name="jx21" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.331321 0.293679" 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="w21" pos="0 0 0"><joint name="jz21" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058522 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w21_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx22" pos="-0.138981 0 0.075022"><joint name="jx22" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.331019 0.293981" 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="w22" pos="0 0 0"><joint name="jz22" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058522 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w22_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx23" pos="-0.139295 0 0.075022"><joint name="jx23" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.330705 0.294295" 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="w23" pos="0 0 0"><joint name="jz23" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058522 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w23_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx33" pos="-0.14309 0 0.075024"><joint name="jx33" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.32691 0.29809" 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="w33" pos="0 0 0"><joint name="jz33" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058524 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w33_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx34" pos="-0.143536 0 0.075024"><joint name="jx34" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.326464 0.298536" 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="w34" pos="0 0 0"><joint name="jz34" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058524 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w34_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx36" pos="-0.144461 0 0.075024"><joint name="jx36" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.325539 0.299461" 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="w36" pos="0 0 0"><joint name="jz36" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058524 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w36_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx37" pos="-0.144942 0 0.075024"><joint name="jx37" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.325058 0.299942" 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="w37" pos="0 0 0"><joint name="jz37" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058524 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w37_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx38" pos="-0.145435 0 0.075025"><joint name="jx38" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.324565 0.300435" 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="w38" pos="0 0 0"><joint name="jz38" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058525 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w38_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx39" pos="-0.14594 0 0.075025"><joint name="jx39" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.32406 0.30094" 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="w39" pos="0 0 0"><joint name="jz39" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058525 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w39_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx40" pos="-0.146456 0 0.075025"><joint name="jx40" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.323544 0.301456" 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="w40" pos="0 0 0"><joint name="jz40" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058525 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w40_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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>
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<body name="wx54" pos="-0.154939 0 0.075029"><joint name="jx54" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.315061 0.309939" 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="w54" pos="0 0 0"><joint name="jz54" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058529 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w54_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx57" pos="-0.157061 0 0.07503"><joint name="jx57" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.312939 0.312061" 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="w57" pos="0 0 0"><joint name="jz57" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.05853 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w57_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx58" pos="-0.157792 0 0.07503"><joint name="jx58" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.312208 0.312792" 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="w58" pos="0 0 0"><joint name="jz58" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.05853 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w58_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx59" pos="-0.158535 0 0.075031"><joint name="jx59" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.311465 0.313535" 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="w59" pos="0 0 0"><joint name="jz59" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058531 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w59_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx60" pos="-0.15929 0 0.075031"><joint name="jx60" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.31071 0.31429" 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="w60" pos="0 0 0"><joint name="jz60" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058531 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w60_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx61" pos="-0.160057 0 0.075031"><joint name="jx61" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.309943 0.315057" 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="w61" pos="0 0 0"><joint name="jz61" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058531 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w61_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx171" pos="-0.317155 0 0.075102"><joint name="jx171" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.152845 0.472155" 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="w171" pos="0 0 0"><joint name="jz171" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058602 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w171_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx172" pos="-0.319244 0 0.075103"><joint name="jx172" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.150756 0.474244" 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="w172" pos="0 0 0"><joint name="jz172" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058603 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w172_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx173" pos="-0.321345 0 0.075104"><joint name="jx173" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.148655 0.476345" 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="w173" pos="0 0 0"><joint name="jz173" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058604 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w173_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx174" pos="-0.323459 0 0.075105"><joint name="jx174" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.146541 0.478459" 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="w174" pos="0 0 0"><joint name="jz174" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058605 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w174_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx175" pos="-0.325584 0 0.075106"><joint name="jx175" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.144416 0.480584" 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="w175" pos="0 0 0"><joint name="jz175" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058606 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w175_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx176" pos="-0.327721 0 0.075107"><joint name="jx176" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.142279 0.482721" 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="w176" pos="0 0 0"><joint name="jz176" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058607 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w176_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx177" pos="-0.32987 0 0.075108"><joint name="jx177" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.14013 0.48487" 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="w177" pos="0 0 0"><joint name="jz177" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058608 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w177_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx178" pos="-0.332031 0 0.075109"><joint name="jx178" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.137969 0.487031" 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="w178" pos="0 0 0"><joint name="jz178" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.058609 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w178_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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="wx179" pos="-0.334204 0 0.07511"><joint name="jx179" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.135796 0.489204" 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="w179" pos="0 0 0"><joint name="jz179" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.05861 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w179_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" 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>
