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<body name="gear" pos="0 0 0"><joint name="j_gear" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="3.552217489e-10 -0.01959545543 1.923025223e-9" mass="12.85536859" fullinertia="0.08046616974 0.1607495805 0.08046617036 -8.616916773e-11 1.970947445e-11 -5.585733855e-10"/><geom name="gear_h0" type="mesh" mesh="gear_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h1" type="mesh" mesh="gear_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h2" type="mesh" mesh="gear_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="gear_g_w" pos="0 -0.02 0" quat="1 0 0 0"><geom name="gear_g_t0" type="mesh" mesh="gear_g_t0" contype="4" conaffinity="4" 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_g_t1" type="mesh" mesh="gear_g_t1" contype="4" conaffinity="4" 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_g_t2" type="mesh" mesh="gear_g_t2" contype="4" conaffinity="4" 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_g_t3" type="mesh" mesh="gear_g_t3" contype="4" conaffinity="4" 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_g_t4" type="mesh" mesh="gear_g_t4" contype="4" conaffinity="4" 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_g_t5" type="mesh" mesh="gear_g_t5" contype="4" conaffinity="4" 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_g_t6" type="mesh" mesh="gear_g_t6" contype="4" conaffinity="4" 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_g_t7" type="mesh" mesh="gear_g_t7" contype="4" conaffinity="4" 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_g_t8" type="mesh" mesh="gear_g_t8" contype="4" conaffinity="4" 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_g_t9" type="mesh" mesh="gear_g_t9" contype="4" conaffinity="4" 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_g_t10" type="mesh" mesh="gear_g_t10" contype="4" conaffinity="4" 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_g_t11" type="mesh" mesh="gear_g_t11" contype="4" conaffinity="4" 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_g_t12" type="mesh" mesh="gear_g_t12" contype="4" conaffinity="4" 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_g_t13" type="mesh" mesh="gear_g_t13" contype="4" conaffinity="4" 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_g_t14" type="mesh" mesh="gear_g_t14" contype="4" conaffinity="4" 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_g_t15" type="mesh" mesh="gear_g_t15" contype="4" conaffinity="4" 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_g_t16" type="mesh" mesh="gear_g_t16" contype="4" conaffinity="4" 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_g_t17" type="mesh" mesh="gear_g_t17" contype="4" conaffinity="4" 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_g_t18" type="mesh" mesh="gear_g_t18" contype="4" conaffinity="4" 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_g_t19" type="mesh" mesh="gear_g_t19" contype="4" conaffinity="4" 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_g_t20" type="mesh" mesh="gear_g_t20" contype="4" conaffinity="4" 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_g_t21" type="mesh" mesh="gear_g_t21" contype="4" conaffinity="4" 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_g_t22" type="mesh" mesh="gear_g_t22" contype="4" conaffinity="4" 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_g_t23" type="mesh" mesh="gear_g_t23" contype="4" conaffinity="4" 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_g_t24" type="mesh" mesh="gear_g_t24" contype="4" conaffinity="4" 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_g_t25" type="mesh" mesh="gear_g_t25" contype="4" conaffinity="4" 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_g_t26" type="mesh" mesh="gear_g_t26" contype="4" conaffinity="4" 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_g_t27" type="mesh" mesh="gear_g_t27" contype="4" conaffinity="4" 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_g_t28" type="mesh" mesh="gear_g_t28" contype="4" conaffinity="4" 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_g_t29" type="mesh" mesh="gear_g_t29" contype="4" conaffinity="4" 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_g_t30" type="mesh" mesh="gear_g_t30" contype="4" conaffinity="4" 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_g_t31" type="mesh" mesh="gear_g_t31" contype="4" conaffinity="4" 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_g_root" type="mesh" mesh="gear_g_root" contype="0" conaffinity="0" group="1" mass="0"/></body>
</body>
<body name="shaft" pos="0 0 0"><joint name="j_shaft" type="hinge" axis="0 1 0" damping="0.1" frictionloss="0"/><inertial pos="0 0.03038367844 0.0001534713764" mass="0.2172758152" fullinertia="0.00102184017 0.000004014887247 0.001021645214 0 0 -4.873902812e-7"/><body name="half" pos="0 0 0"><joint name="j_feather" type="slide" axis="0 1 0" damping="2" frictionloss="0" range="-0.007 0.003" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-7.806933849e-9 0.0368555819 1.312599051e-9" mass="0.5375289705" fullinertia="0.0002376395397 0.0001789570625 0.0002376393816 -1.00108831e-10 1.29089823e-12 1.683154476e-11"/><geom name="half_h0" type="capsule" fromto="-0.001187 0.013 0.014953 -0.002374 0.013 0.029906" 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 0.0005" margin="0" group="2" mass="0"/><geom name="half_h1" type="capsule" fromto="-0.012356 0.013 -0.008504 -0.024712 0.013 -0.017009" 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 0.0005" margin="0" group="2" mass="0"/><geom name="half_h2" type="capsule" fromto="0.013543 0.013 -0.006449 0.027086 0.013 -0.012897" 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 0.0005" margin="0" group="2" mass="0"/><geom name="half_h3" type="mesh" mesh="half_h3" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="half_h4" type="mesh" mesh="half_h4" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="lever" pos="0 0.052 -0.13"><joint name="j_lever" type="hinge" axis="1 0 0" damping="4" frictionloss="0" range="-0.04 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="8" springref="0"/><inertial pos="0 0.02819537396 -0.01936999655" mass="0.16023734" fullinertia="0.0005835423996 0.00050624372 0.00008450300385 0 0 0.0001727773936"/><geom name="lever_h0" type="mesh" mesh="lever_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></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></equality>

<actuator><velocity name="drive" joint="j_pinion" kv="0.3" forcerange="-5 5"/></actuator>
</mujoco>
