<mujoco model="29-spiral-thread-disk-and-spur-gear">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<body name="gear_shaft" pos="0.1215 -0.068 0" quat="0.7071068 0.7071068 0 0"><joint name="j_gear" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 0 0" mass="1.17645909" fullinertia="0.0005430950502 0.0010861901 0.0005430950502 0 0 0"/><body name="gear_w" pos="0 0 0" quat="1 0 0 0"><geom name="gear_t0" type="mesh" mesh="gear_t0" contype="4" conaffinity="12" 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"/><geom name="gear_t1" type="mesh" mesh="gear_t1" contype="4" conaffinity="12" 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"/><geom name="gear_t2" type="mesh" mesh="gear_t2" contype="4" conaffinity="12" 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"/><geom name="gear_t3" type="mesh" mesh="gear_t3" contype="4" conaffinity="12" 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"/><geom name="gear_t4" type="mesh" mesh="gear_t4" contype="4" conaffinity="12" 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"/><geom name="gear_t5" type="mesh" mesh="gear_t5" contype="4" conaffinity="12" 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"/><geom name="gear_t6" type="mesh" mesh="gear_t6" contype="4" conaffinity="12" 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"/><geom name="gear_t7" type="mesh" mesh="gear_t7" contype="4" conaffinity="12" 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"/><geom name="gear_t8" type="mesh" mesh="gear_t8" contype="4" conaffinity="12" 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"/><geom name="gear_t9" type="mesh" mesh="gear_t9" contype="4" conaffinity="12" 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"/><geom name="gear_t10" type="mesh" mesh="gear_t10" contype="4" conaffinity="12" 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"/><geom name="gear_t11" type="mesh" mesh="gear_t11" contype="4" conaffinity="12" 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"/><geom name="gear_t12" type="mesh" mesh="gear_t12" contype="4" conaffinity="12" 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"/><geom name="gear_t13" type="mesh" mesh="gear_t13" contype="4" conaffinity="12" 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"/><geom name="gear_t14" type="mesh" mesh="gear_t14" contype="4" conaffinity="12" 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"/><geom name="gear_t15" type="mesh" mesh="gear_t15" contype="4" conaffinity="12" 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"/><geom name="gear_t16" type="mesh" mesh="gear_t16" contype="4" conaffinity="12" 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"/><geom name="gear_t17" type="mesh" mesh="gear_t17" contype="4" conaffinity="12" 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"/><geom name="gear_root" type="mesh" mesh="gear_root" contype="0" conaffinity="0" group="1" mass="0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_disk" kv="6" forcerange="-6 6"/></actuator>
</mujoco>
