<mujoco model="81-mutilated-gear-rack-spring">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="gear_a_h0" vertex="0.041873 -0.008 -0.03813 0.041873 0.008 -0.03813 0.051252 -0.008 -0.024094 0.051252 0.008 -0.024094 0.05981 -0.008 -0.035765 0.05981 0.008 -0.035765 0.055931 -0.008 -0.04157 0.055931 0.008 -0.04157"/><mesh name="gear_a_h1" vertex="0.053277 -0.008 -0.019204 0.053277 0.008 -0.019204 0.056571 -0.008 -0.002646 0.056571 0.008 -0.002646 0.068944 -0.008 -0.010154 0.068944 0.008 -0.010154 0.067582 -0.008 -0.017002 0.067582 0.008 -0.017002"/><mesh name="gear_a_h2" vertex="0.056571 -0.008 0.002646 0.056571 0.008 0.002646 0.053277 -0.008 0.019204 0.053277 0.008 0.019204 0.067582 -0.008 0.017002 0.067582 0.008 0.017002 0.068944 -0.008 0.010154 0.068944 0.008 0.010154"/><mesh name="gear_a_h3" vertex="0.051252 -0.008 0.024094 0.051252 0.008 0.024094 0.041873 -0.008 0.03813 0.041873 0.008 0.03813 0.055931 -0.008 0.04157 0.055931 0.008 0.04157 0.05981 -0.008 0.035765 0.05981 0.008 0.035765"/><mesh name="gear_a_h4" vertex="0.03813 -0.008 0.041873 0.03813 0.008 0.041873 0.024094 -0.008 0.051252 0.024094 0.008 0.051252 0.035765 -0.008 0.05981 0.035765 0.008 0.05981 0.04157 -0.008 0.055931 0.04157 0.008 0.055931"/><mesh name="rod_b_h0" vertex="-0.00819 -0.008 0.0045 -0.00819 0.008 0.0045 0.00819 -0.008 0.0045 0.00819 0.008 0.0045 0.003822 -0.008 0.0165 0.003822 0.008 0.0165 -0.003822 -0.008 0.0165 -0.003822 0.008 0.0165"/><mesh name="rod_b_h1" vertex="0.016943 -0.008 0.0045 0.016943 0.008 0.0045 0.033322 -0.008 0.0045 0.033322 0.008 0.0045 0.028955 -0.008 0.0165 0.028955 0.008 0.0165 0.021311 -0.008 0.0165 0.021311 0.008 0.0165"/><mesh name="rod_b_h2" vertex="0.042076 -0.008 0.0045 0.042076 0.008 0.0045 0.058455 -0.008 0.0045 0.058455 0.008 0.0045 0.054087 -0.008 0.0165 0.054087 0.008 0.0165 0.046443 -0.008 0.0165 0.046443 0.008 0.0165"/><mesh name="rod_b_h3" vertex="0.067209 -0.008 0.0045 0.067209 0.008 0.0045 0.083588 -0.008 0.0045 0.083588 0.008 0.0045 0.07922 -0.008 0.0165 0.07922 0.008 0.0165 0.071576 -0.008 0.0165 0.071576 0.008 0.0165"/><mesh name="rod_b_h4" vertex="0.092341 -0.008 0.0045 0.092341 0.008 0.0045 0.108721 -0.008 0.0045 0.108721 0.008 0.0045 0.104353 -0.008 0.0165 0.104353 0.008 0.0165 0.096709 -0.008 0.0165 0.096709 0.008 0.0165"/><mesh name="rod_b_h5" vertex="0.117474 -0.008 0.0045 0.117474 0.008 0.0045 0.133853 -0.008 0.0045 0.133853 0.008 0.0045 0.129486 -0.008 0.0165 0.129486 0.008 0.0165 0.121842 -0.008 0.0165 0.121842 0.008 0.0165"/><mesh name="rod_b_h6" vertex="0.142607 -0.008 0.0045 0.142607 0.008 0.0045 0.158986 -0.008 0.0045 0.158986 0.008 0.0045 0.154618 -0.008 0.0165 0.154618 0.008 0.0165 0.146974 -0.008 0.0165 0.146974 0.008 0.0165"/><mesh name="rod_b_h7" vertex="0.16774 -0.008 0.0045 0.16774 0.008 0.0045 0.184119 -0.008 0.0045 0.184119 0.008 0.0045 0.179751 -0.008 0.0165 0.179751 0.008 0.0165 0.172107 -0.008 0.0165 0.172107 0.008 0.0165"/><mesh name="rod_b_h8" vertex="0.192872 -0.008 0.0045 0.192872 0.008 0.0045 0.209252 -0.008 0.0045 0.209252 0.008 0.0045 0.204884 -0.008 0.0165 0.204884 0.008 0.0165 0.19724 -0.008 0.0165 0.19724 0.008 0.0165"/><mesh name="rod_b_h9" vertex="0.202 -0.008 -0.008 0.202 0.008 -0.008 0.21 -0.008 -0.008 0.21 0.008 -0.008 0.21 -0.008 0.008 0.21 0.008 0.008 0.202 -0.008 0.008 0.202 0.008 0.008"/><mesh name="frame_h0" vertex="0.2102 -0.009 -0.0885 0.2102 0.009 -0.0885 0.228 -0.009 -0.0885 0.228 0.009 -0.0885 0.228 -0.009 -0.081 0.228 0.009 -0.081 0.2102 -0.009 -0.081 0.2102 0.009 -0.081"/><mesh name="frame_h1" vertex="0.2102 -0.009 -0.072 0.2102 0.009 -0.072 0.228 -0.009 -0.072 0.228 0.009 -0.072 0.228 -0.009 -0.0645 0.228 0.009 -0.0645 0.2102 -0.009 -0.0645 0.2102 0.009 -0.0645"/></asset>
<size memory="64M"/>
<worldbody>
<body name="gear_a" pos="0 0 0"><joint name="j_A" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.004044338613 0 0.000804432818" mass="1.294819682" fullinertia="0.001065379892 0.002228058896 0.001217924644 0 -0.00003159014387 0"/><geom name="gear_a_h0" type="mesh" mesh="gear_a_h0" contype="8" conaffinity="16" 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_a_h1" type="mesh" mesh="gear_a_h1" contype="8" conaffinity="16" 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_a_h2" type="mesh" mesh="gear_a_h2" contype="8" conaffinity="16" 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_a_h3" type="mesh" mesh="gear_a_h3" contype="8" conaffinity="16" 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_a_h4" type="mesh" mesh="gear_a_h4" contype="8" conaffinity="16" 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"/></body>
<body name="rod_b" pos="0 0 -0.0765"><joint name="j_b" type="slide" axis="1 0 0" damping="6" frictionloss="0" stiffness="30" springref="0.03"/><inertial pos="0.1276387657 0 0.003243002201" mass="0.4878785426" fullinertia="0.0000238014273 0.004143425421 0.004138395822 0 0.00004288976249 0"/><geom name="rod_b_h0" type="mesh" mesh="rod_b_h0" contype="16" conaffinity="8" 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="rod_b_h1" type="mesh" mesh="rod_b_h1" contype="16" conaffinity="8" 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="rod_b_h2" type="mesh" mesh="rod_b_h2" contype="16" conaffinity="8" 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="rod_b_h3" type="mesh" mesh="rod_b_h3" contype="16" conaffinity="8" 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="rod_b_h4" type="mesh" mesh="rod_b_h4" contype="16" conaffinity="8" 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="rod_b_h5" type="mesh" mesh="rod_b_h5" contype="16" conaffinity="8" 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="rod_b_h6" type="mesh" mesh="rod_b_h6" contype="16" conaffinity="8" 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="rod_b_h7" type="mesh" mesh="rod_b_h7" contype="16" conaffinity="8" 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="rod_b_h8" type="mesh" mesh="rod_b_h8" contype="16" conaffinity="8" 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="rod_b_h9" type="mesh" mesh="rod_b_h9" contype="8" conaffinity="16" 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"/></body>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="mesh" mesh="frame_h0" 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="frame_h1" type="mesh" mesh="frame_h1" 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>
<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_A" kv="5" forcerange="-20 20"/></actuator>
</mujoco>
