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<body name="pinion" pos="0.11775 0 0.00765" quat="0.7071068 -0.3535534 0 -0.6123724"><joint name="j_pinion" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="1.940750278" fullinertia="0.0004366688125 0.000873337625 0.0004366688125 0 0 0"/><body name="pt_w" pos="0 0 0" quat="1 0 0 0"><geom name="pt_t0" type="mesh" mesh="pt_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="pt_t1" type="mesh" mesh="pt_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="pt_t2" type="mesh" mesh="pt_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="pt_t3" type="mesh" mesh="pt_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="pt_t4" type="mesh" mesh="pt_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="pt_t5" type="mesh" mesh="pt_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="pt_t6" type="mesh" mesh="pt_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="pt_t7" type="mesh" mesh="pt_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="pt_t8" type="mesh" mesh="pt_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="pt_t9" type="mesh" mesh="pt_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="pt_t10" type="mesh" mesh="pt_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="pt_t11" type="mesh" mesh="pt_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="pt_root" type="mesh" mesh="pt_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_pinion" kv="4" forcerange="-6 6"/></actuator>
</mujoco>
