<mujoco model="116-double-rack-ratchet-pinions">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="pinion_a_h0" vertex="-0.002646 -0.026 0.056571 -0.002646 -0.014 0.056571 -0.019204 -0.026 0.053277 -0.019204 -0.014 0.053277 -0.017002 -0.026 0.067582 -0.017002 -0.014 0.067582 -0.010154 -0.026 0.068944 -0.010154 -0.014 0.068944"/><mesh name="pinion_a_h1" vertex="-0.024094 -0.026 0.051252 -0.024094 -0.014 0.051252 -0.03813 -0.026 0.041873 -0.03813 -0.014 0.041873 -0.04157 -0.026 0.055931 -0.04157 -0.014 0.055931 -0.035765 -0.026 0.05981 -0.035765 -0.014 0.05981"/><mesh name="pinion_a_h2" vertex="-0.041873 -0.026 0.03813 -0.041873 -0.014 0.03813 -0.051252 -0.026 0.024094 -0.051252 -0.014 0.024094 -0.05981 -0.026 0.035765 -0.05981 -0.014 0.035765 -0.055931 -0.026 0.04157 -0.055931 -0.014 0.04157"/><mesh name="pinion_a_h3" vertex="-0.053277 -0.026 0.019204 -0.053277 -0.014 0.019204 -0.056571 -0.026 0.002646 -0.056571 -0.014 0.002646 -0.068944 -0.026 0.010154 -0.068944 -0.014 0.010154 -0.067582 -0.026 0.017002 -0.067582 -0.014 0.017002"/><mesh name="pinion_a_h4" vertex="-0.056571 -0.026 -0.002646 -0.056571 -0.014 -0.002646 -0.053277 -0.026 -0.019204 -0.053277 -0.014 -0.019204 -0.067582 -0.026 -0.017002 -0.067582 -0.014 -0.017002 -0.068944 -0.026 -0.010154 -0.068944 -0.014 -0.010154"/><mesh name="pinion_a_h5" vertex="-0.051252 -0.026 -0.024094 -0.051252 -0.014 -0.024094 -0.041873 -0.026 -0.03813 -0.041873 -0.014 -0.03813 -0.055931 -0.026 -0.04157 -0.055931 -0.014 -0.04157 -0.05981 -0.026 -0.035765 -0.05981 -0.014 -0.035765"/><mesh name="pinion_a_h6" vertex="-0.03813 -0.026 -0.041873 -0.03813 -0.014 -0.041873 -0.024094 -0.026 -0.051252 -0.024094 -0.014 -0.051252 -0.035765 -0.026 -0.05981 -0.035765 -0.014 -0.05981 -0.04157 -0.026 -0.055931 -0.04157 -0.014 -0.055931"/><mesh name="pinion_a_h7" vertex="-0.019204 -0.026 -0.053277 -0.019204 -0.014 -0.053277 -0.002646 -0.026 -0.056571 -0.002646 -0.014 -0.056571 -0.010154 -0.026 -0.068944 -0.010154 -0.014 -0.068944 -0.017002 -0.026 -0.067582 -0.017002 -0.014 -0.067582"/><mesh name="pinion_a_h8" vertex="0.002646 -0.026 -0.056571 0.002646 -0.014 -0.056571 0.019204 -0.026 -0.053277 0.019204 -0.014 -0.053277 0.017002 -0.026 -0.067582 0.017002 -0.014 -0.067582 0.010154 -0.026 -0.068944 0.010154 -0.014 -0.068944"/><mesh name="pinion_a_h9" vertex="0.024094 -0.026 -0.051252 0.024094 -0.014 -0.051252 0.03813 -0.026 -0.041873 0.03813 -0.014 -0.041873 0.04157 -0.026 -0.055931 0.04157 -0.014 -0.055931 0.035765 -0.026 -0.05981 0.035765 -0.014 -0.05981"/><mesh name="pinion_a_h10" vertex="0.041873 -0.026 -0.03813 0.041873 -0.014 -0.03813 0.051252 -0.026 -0.024094 0.051252 -0.014 -0.024094 0.05981 -0.026 -0.035765 0.05981 -0.014 -0.035765 0.055931 -0.026 -0.04157 0.055931 -0.014 -0.04157"/><mesh name="pinion_a_h11" vertex="0.053277 -0.026 -0.019204 0.053277 -0.014 -0.019204 0.056571 -0.026 -0.002646 0.056571 -0.014 -0.002646 0.068944 -0.026 -0.010154 0.068944 -0.014 -0.010154 0.067582 -0.026 -0.017002 0.067582 -0.014 -0.017002"/><mesh name="pinion_a_h12" vertex="0.056571 -0.026 0.002646 0.056571 -0.014 0.002646 0.053277 -0.026 0.019204 0.053277 -0.014 0.019204 0.067582 -0.026 0.017002 0.067582 -0.014 0.017002 0.068944 -0.026 0.010154 0.068944 -0.014 0.010154"/><mesh name="pinion_a_h13" vertex="0.051252 -0.026 0.024094 0.051252 -0.014 0.024094 0.041873 -0.026 0.03813 0.041873 -0.014 0.03813 0.055931 -0.026 0.04157 0.055931 -0.014 0.04157 0.05981 -0.026 0.035765 0.05981 -0.014 0.035765"/><mesh name="pinion_a_h14" vertex="0.03813 -0.026 0.041873 0.03813 -0.014 0.041873 0.024094 -0.026 0.051252 0.024094 -0.014 0.051252 0.035765 -0.026 0.05981 0.035765 -0.014 0.05981 0.04157 -0.026 0.055931 0.04157 -0.014 0.055931"/><mesh name="pinion_a_h15" vertex="0.019204 -0.026 0.053277 0.019204 -0.014 0.053277 0.002646 -0.026 0.056571 0.002646 -0.014 0.056571 0.010154 -0.026 0.068944 0.010154 -0.014 0.068944 0.017002 -0.026 0.067582 0.017002 -0.014 0.067582"/><mesh name="pinion_b_h0" vertex="-0.002646 0.014 0.056571 -0.002646 0.026 0.056571 -0.019204 0.014 0.053277 -0.019204 0.026 0.053277 -0.017002 0.014 0.067582 -0.017002 0.026 0.067582 -0.010154 0.014 0.068944 -0.010154 0.026 0.068944"/><mesh name="pinion_b_h1" vertex="-0.024094 0.014 0.051252 -0.024094 0.026 0.051252 -0.03813 0.014 0.041873 -0.03813 0.026 0.041873 -0.04157 0.014 0.055931 -0.04157 0.026 0.055931 -0.035765 0.014 0.05981 -0.035765 0.026 0.05981"/><mesh name="pinion_b_h2" vertex="-0.041873 0.014 0.03813 -0.041873 0.026 0.03813 -0.051252 0.014 0.024094 -0.051252 0.026 0.024094 -0.05981 0.014 0.035765 -0.05981 0.026 0.035765 -0.055931 0.014 0.04157 -0.055931 0.026 0.04157"/><mesh name="pinion_b_h3" vertex="-0.053277 0.014 0.019204 -0.053277 0.026 0.019204 -0.056571 0.014 0.002646 -0.056571 0.026 0.002646 -0.068944 0.014 0.010154 -0.068944 0.026 0.010154 -0.067582 0.014 0.017002 -0.067582 0.026 0.017002"/><mesh name="pinion_b_h4" vertex="-0.056571 0.014 -0.002646 -0.056571 0.026 -0.002646 -0.053277 0.014 -0.019204 -0.053277 0.026 -0.019204 -0.067582 0.014 -0.017002 -0.067582 0.026 -0.017002 -0.068944 0.014 -0.010154 -0.068944 0.026 -0.010154"/><mesh name="pinion_b_h5" vertex="-0.051252 0.014 -0.024094 -0.051252 0.026 -0.024094 -0.041873 0.014 -0.03813 -0.041873 0.026 -0.03813 -0.055931 0.014 -0.04157 -0.055931 0.026 -0.04157 -0.05981 0.014 -0.035765 -0.05981 0.026 -0.035765"/><mesh name="pinion_b_h6" vertex="-0.03813 0.014 -0.041873 -0.03813 0.026 -0.041873 -0.024094 0.014 -0.051252 -0.024094 0.026 -0.051252 -0.035765 0.014 -0.05981 -0.035765 0.026 -0.05981 -0.04157 0.014 -0.055931 -0.04157 0.026 -0.055931"/><mesh name="pinion_b_h7" vertex="-0.019204 0.014 -0.053277 -0.019204 0.026 -0.053277 -0.002646 0.014 -0.056571 -0.002646 0.026 -0.056571 -0.010154 0.014 -0.068944 -0.010154 0.026 -0.068944 -0.017002 0.014 -0.067582 -0.017002 0.026 -0.067582"/><mesh name="pinion_b_h8" vertex="0.002646 0.014 -0.056571 0.002646 0.026 -0.056571 0.019204 0.014 -0.053277 0.019204 0.026 -0.053277 0.017002 0.014 -0.067582 0.017002 0.026 -0.067582 0.010154 0.014 -0.068944 0.010154 0.026 -0.068944"/><mesh name="pinion_b_h9" vertex="0.024094 0.014 -0.051252 0.024094 0.026 -0.051252 0.03813 0.014 -0.041873 0.03813 0.026 -0.041873 0.04157 0.014 -0.055931 0.04157 0.026 -0.055931 0.035765 0.014 -0.05981 0.035765 0.026 -0.05981"/><mesh name="pinion_b_h10" vertex="0.041873 0.014 -0.03813 0.041873 0.026 -0.03813 0.051252 0.014 -0.024094 0.051252 0.026 -0.024094 0.05981 0.014 -0.035765 0.05981 0.026 -0.035765 0.055931 0.014 -0.04157 0.055931 0.026 -0.04157"/><mesh name="pinion_b_h11" vertex="0.053277 0.014 -0.019204 0.053277 0.026 -0.019204 0.056571 0.014 -0.002646 0.056571 0.026 -0.002646 0.068944 0.014 -0.010154 0.068944 0.026 -0.010154 0.067582 0.014 -0.017002 0.067582 0.026 -0.017002"/><mesh name="pinion_b_h12" vertex="0.056571 0.014 0.002646 0.056571 0.026 0.002646 0.053277 0.014 0.019204 0.053277 0.026 0.019204 0.067582 0.014 0.017002 0.067582 0.026 0.017002 0.068944 0.014 0.010154 0.068944 0.026 0.010154"/><mesh name="pinion_b_h13" vertex="0.051252 0.014 0.024094 0.051252 0.026 0.024094 0.041873 0.014 0.03813 0.041873 0.026 0.03813 0.055931 0.014 0.04157 0.055931 0.026 0.04157 0.05981 0.014 0.035765 0.05981 0.026 0.035765"/><mesh name="pinion_b_h14" vertex="0.03813 0.014 0.041873 0.03813 0.026 0.041873 0.024094 0.014 0.051252 0.024094 0.026 0.051252 0.035765 0.014 0.05981 0.035765 0.026 0.05981 0.04157 0.014 0.055931 0.04157 0.026 0.055931"/><mesh name="pinion_b_h15" vertex="0.019204 0.014 0.053277 0.019204 0.026 0.053277 0.002646 0.014 0.056571 0.002646 0.026 0.056571 0.010154 0.014 0.068944 0.010154 0.026 0.068944 0.017002 0.014 0.067582 0.017002 0.026 0.067582"/><mesh name="shaft_h0" vertex="0.037967 -0.012 0.001591 0.037967 -0.004 0.001591 0.04596 -0.012 0.001926 0.04596 -0.004 0.001926 0.0366 -0.012 -0.010219 0.0366 -0.004 -0.010219"/><mesh name="shaft_h1" vertex="0.0366 -0.012 -0.010219 0.0366 -0.004 -0.010219 0.044305 -0.012 -0.01237 0.044305 -0.004 -0.01237 0.031651 -0.012 -0.021029 0.031651 -0.004 -0.021029"/><mesh name="shaft_h2" vertex="0.031651 -0.012 -0.021029 0.031651 -0.004 -0.021029 0.038314 -0.012 -0.025456 0.038314 -0.004 -0.025456 0.023604 -0.012 -0.02978 0.023604 -0.004 -0.02978"/><mesh name="shaft_h3" vertex="0.023604 -0.012 -0.02978 0.023604 -0.004 -0.02978 0.028573 -0.012 -0.03605 0.028573 -0.004 -0.03605 0.013246 -0.012 -0.035617 0.013246 -0.004 -0.035617"/><mesh name="shaft_h4" vertex="0.013246 -0.012 -0.035617 0.013246 -0.004 -0.035617 0.016034 -0.012 -0.043115 0.016034 -0.004 -0.043115 0.001591 -0.012 -0.037967 0.001591 -0.004 -0.037967"/><mesh name="shaft_h5" vertex="0.001591 -0.012 -0.037967 0.001591 -0.004 -0.037967 0.001926 -0.012 -0.04596 0.001926 -0.004 -0.04596 -0.010219 -0.012 -0.0366 -0.010219 -0.004 -0.0366"/><mesh name="shaft_h6" vertex="-0.010219 -0.012 -0.0366 -0.010219 -0.004 -0.0366 -0.01237 -0.012 -0.044305 -0.01237 -0.004 -0.044305 -0.021029 -0.012 -0.031651 -0.021029 -0.004 -0.031651"/><mesh name="shaft_h7" vertex="-0.021029 -0.012 -0.031651 -0.021029 -0.004 -0.031651 -0.025456 -0.012 -0.038314 -0.025456 -0.004 -0.038314 -0.02978 -0.012 -0.023604 -0.02978 -0.004 -0.023604"/><mesh name="shaft_h8" vertex="-0.02978 -0.012 -0.023604 -0.02978 -0.004 -0.023604 -0.03605 -0.012 -0.028573 -0.03605 -0.004 -0.028573 -0.035617 -0.012 -0.013246 -0.035617 -0.004 -0.013246"/><mesh name="shaft_h9" vertex="-0.035617 -0.012 -0.013246 -0.035617 -0.004 -0.013246 -0.043115 -0.012 -0.016034 -0.043115 -0.004 -0.016034 -0.037967 -0.012 -0.001591 -0.037967 -0.004 -0.001591"/><mesh name="shaft_h10" vertex="-0.037967 -0.012 -0.001591 -0.037967 -0.004 -0.001591 -0.04596 -0.012 -0.001926 -0.04596 -0.004 -0.001926 -0.0366 -0.012 0.010219 -0.0366 -0.004 0.010219"/><mesh name="shaft_h11" vertex="-0.0366 -0.012 0.010219 -0.0366 -0.004 0.010219 -0.044305 -0.012 0.01237 -0.044305 -0.004 0.01237 -0.031651 -0.012 0.021029 -0.031651 -0.004 0.021029"/><mesh name="shaft_h12" vertex="-0.031651 -0.012 0.021029 -0.031651 -0.004 0.021029 -0.038314 -0.012 0.025456 -0.038314 -0.004 0.025456 -0.023604 -0.012 0.02978 -0.023604 -0.004 0.02978"/><mesh name="shaft_h13" vertex="-0.023604 -0.012 0.02978 -0.023604 -0.004 0.02978 -0.028573 -0.012 0.03605 -0.028573 -0.004 0.03605 -0.013246 -0.012 0.035617 -0.013246 -0.004 0.035617"/><mesh name="shaft_h14" vertex="-0.013246 -0.012 0.035617 -0.013246 -0.004 0.035617 -0.016034 -0.012 0.043115 -0.016034 -0.004 0.043115 -0.001591 -0.012 0.037967 -0.001591 -0.004 0.037967"/><mesh name="shaft_h15" vertex="-0.001591 -0.012 0.037967 -0.001591 -0.004 0.037967 -0.001926 -0.012 0.04596 -0.001926 -0.004 0.04596 0.010219 -0.012 0.0366 0.010219 -0.004 0.0366"/><mesh name="shaft_h16" vertex="0.010219 -0.012 0.0366 0.010219 -0.004 0.0366 0.01237 -0.012 0.044305 0.01237 -0.004 0.044305 0.021029 -0.012 0.031651 0.021029 -0.004 0.031651"/><mesh name="shaft_h17" vertex="0.021029 -0.012 0.031651 0.021029 -0.004 0.031651 0.025456 -0.012 0.038314 0.025456 -0.004 0.038314 0.02978 -0.012 0.023604 0.02978 -0.004 0.023604"/><mesh name="shaft_h18" vertex="0.02978 -0.012 0.023604 0.02978 -0.004 0.023604 0.03605 -0.012 0.028573 0.03605 -0.004 0.028573 0.035617 -0.012 0.013246 0.035617 -0.004 0.013246"/><mesh name="shaft_h19" vertex="0.035617 -0.012 0.013246 0.035617 -0.004 0.013246 0.043115 -0.012 0.016034 0.043115 -0.004 0.016034 0.037967 -0.012 0.001591 0.037967 -0.004 0.001591"/><mesh name="shaft_h20" vertex="0.037967 0.004 0.001591 0.037967 0.012 0.001591 0.04596 0.004 0.001926 0.04596 0.012 0.001926 0.0366 0.004 -0.010219 0.0366 0.012 -0.010219"/><mesh name="shaft_h21" vertex="0.0366 0.004 -0.010219 0.0366 0.012 -0.010219 0.044305 0.004 -0.01237 0.044305 0.012 -0.01237 0.031651 0.004 -0.021029 0.031651 0.012 -0.021029"/><mesh name="shaft_h22" vertex="0.031651 0.004 -0.021029 0.031651 0.012 -0.021029 0.038314 0.004 -0.025456 0.038314 0.012 -0.025456 0.023604 0.004 -0.02978 0.023604 0.012 -0.02978"/><mesh name="shaft_h23" vertex="0.023604 0.004 -0.02978 0.023604 0.012 -0.02978 0.028573 0.004 -0.03605 0.028573 0.012 -0.03605 0.013246 0.004 -0.035617 0.013246 0.012 -0.035617"/><mesh name="shaft_h24" vertex="0.013246 0.004 -0.035617 0.013246 0.012 -0.035617 0.016034 0.004 -0.043115 0.016034 0.012 -0.043115 0.001591 0.004 -0.037967 0.001591 0.012 -0.037967"/><mesh name="shaft_h25" vertex="0.001591 0.004 -0.037967 0.001591 0.012 -0.037967 0.001926 0.004 -0.04596 0.001926 0.012 -0.04596 -0.010219 0.004 -0.0366 -0.010219 0.012 -0.0366"/><mesh name="shaft_h26" vertex="-0.010219 0.004 -0.0366 -0.010219 0.012 -0.0366 -0.01237 0.004 -0.044305 -0.01237 0.012 -0.044305 -0.021029 0.004 -0.031651 -0.021029 0.012 -0.031651"/><mesh name="shaft_h27" vertex="-0.021029 0.004 -0.031651 -0.021029 0.012 -0.031651 -0.025456 0.004 -0.038314 -0.025456 0.012 -0.038314 -0.02978 0.004 -0.023604 -0.02978 0.012 -0.023604"/><mesh name="shaft_h28" vertex="-0.02978 0.004 -0.023604 -0.02978 0.012 -0.023604 -0.03605 0.004 -0.028573 -0.03605 0.012 -0.028573 -0.035617 0.004 -0.013246 -0.035617 0.012 -0.013246"/><mesh name="shaft_h29" vertex="-0.035617 0.004 -0.013246 -0.035617 0.012 -0.013246 -0.043115 0.004 -0.016034 -0.043115 0.012 -0.016034 -0.037967 0.004 -0.001591 -0.037967 0.012 -0.001591"/><mesh name="shaft_h30" vertex="-0.037967 0.004 -0.001591 -0.037967 0.012 -0.001591 -0.04596 0.004 -0.001926 -0.04596 0.012 -0.001926 -0.0366 0.004 0.010219 -0.0366 0.012 0.010219"/><mesh name="shaft_h31" vertex="-0.0366 0.004 0.010219 -0.0366 0.012 0.010219 -0.044305 0.004 0.01237 -0.044305 0.012 0.01237 -0.031651 0.004 0.021029 -0.031651 0.012 0.021029"/><mesh name="shaft_h32" vertex="-0.031651 0.004 0.021029 -0.031651 0.012 0.021029 -0.038314 0.004 0.025456 -0.038314 0.012 0.025456 -0.023604 0.004 0.02978 -0.023604 0.012 0.02978"/><mesh name="shaft_h33" vertex="-0.023604 0.004 0.02978 -0.023604 0.012 0.02978 -0.028573 0.004 0.03605 -0.028573 0.012 0.03605 -0.013246 0.004 0.035617 -0.013246 0.012 0.035617"/><mesh name="shaft_h34" vertex="-0.013246 0.004 0.035617 -0.013246 0.012 0.035617 -0.016034 0.004 0.043115 -0.016034 0.012 0.043115 -0.001591 0.004 0.037967 -0.001591 0.012 0.037967"/><mesh name="shaft_h35" vertex="-0.001591 0.004 0.037967 -0.001591 0.012 0.037967 -0.001926 0.004 0.04596 -0.001926 0.012 0.04596 0.010219 0.004 0.0366 0.010219 0.012 0.0366"/><mesh name="shaft_h36" vertex="0.010219 0.004 0.0366 0.010219 0.012 0.0366 0.01237 0.004 0.044305 0.01237 0.012 0.044305 0.021029 0.004 0.031651 0.021029 0.012 0.031651"/><mesh name="shaft_h37" vertex="0.021029 0.004 0.031651 0.021029 0.012 0.031651 0.025456 0.004 0.038314 0.025456 0.012 0.038314 0.02978 0.004 0.023604 0.02978 0.012 0.023604"/><mesh name="shaft_h38" vertex="0.02978 0.004 0.023604 0.02978 0.012 0.023604 0.03605 0.004 0.028573 0.03605 0.012 0.028573 0.035617 0.004 0.013246 0.035617 0.012 0.013246"/><mesh name="shaft_h39" vertex="0.035617 0.004 0.013246 0.035617 0.012 0.013246 0.043115 0.004 0.016034 0.043115 0.012 0.016034 0.037967 0.004 0.001591 0.037967 0.012 0.001591"/><mesh name="oval_h0" vertex="-0.133853 -0.026 0.072 -0.133853 -0.014 0.072 -0.117474 -0.026 0.072 -0.117474 -0.014 0.072 -0.121842 -0.026 0.06 -0.121842 -0.014 0.06 -0.129486 -0.026 0.06 -0.129486 -0.014 0.06"/><mesh name="oval_h1" vertex="-0.108721 -0.026 0.072 -0.108721 -0.014 0.072 -0.092341 -0.026 0.072 -0.092341 -0.014 0.072 -0.096709 -0.026 0.06 -0.096709 -0.014 0.06 -0.104353 -0.026 0.06 -0.104353 -0.014 0.06"/><mesh name="oval_h2" vertex="-0.083588 -0.026 0.072 -0.083588 -0.014 0.072 -0.067209 -0.026 0.072 -0.067209 -0.014 0.072 -0.071576 -0.026 0.06 -0.071576 -0.014 0.06 -0.07922 -0.026 0.06 -0.07922 -0.014 0.06"/><mesh name="oval_h3" vertex="-0.058455 -0.026 0.072 -0.058455 -0.014 0.072 -0.042076 -0.026 0.072 -0.042076 -0.014 0.072 -0.046443 -0.026 0.06 -0.046443 -0.014 0.06 -0.054087 -0.026 0.06 -0.054087 -0.014 0.06"/><mesh name="oval_h4" vertex="-0.033322 -0.026 0.072 -0.033322 -0.014 0.072 -0.016943 -0.026 0.072 -0.016943 -0.014 0.072 -0.021311 -0.026 0.06 -0.021311 -0.014 0.06 -0.028955 -0.026 0.06 -0.028955 -0.014 0.06"/><mesh name="oval_h5" vertex="-0.00819 -0.026 0.072 -0.00819 -0.014 0.072 0.00819 -0.026 0.072 0.00819 -0.014 0.072 0.003822 -0.026 0.06 0.003822 -0.014 0.06 -0.003822 -0.026 0.06 -0.003822 -0.014 0.06"/><mesh name="oval_h6" vertex="0.016943 -0.026 0.072 0.016943 -0.014 0.072 0.033322 -0.026 0.072 0.033322 -0.014 0.072 0.028955 -0.026 0.06 0.028955 -0.014 0.06 0.021311 -0.026 0.06 0.021311 -0.014 0.06"/><mesh name="oval_h7" vertex="0.042076 -0.026 0.072 0.042076 -0.014 0.072 0.058455 -0.026 0.072 0.058455 -0.014 0.072 0.054087 -0.026 0.06 0.054087 -0.014 0.06 0.046443 -0.026 0.06 0.046443 -0.014 0.06"/><mesh name="oval_h8" vertex="0.067209 -0.026 0.072 0.067209 -0.014 0.072 0.083588 -0.026 0.072 0.083588 -0.014 0.072 0.07922 -0.026 0.06 0.07922 -0.014 0.06 0.071576 -0.026 0.06 0.071576 -0.014 0.06"/><mesh name="oval_h9" vertex="0.092341 -0.026 0.072 0.092341 -0.014 0.072 0.108721 -0.026 0.072 0.108721 -0.014 0.072 0.104353 -0.026 0.06 0.104353 -0.014 0.06 0.096709 -0.026 0.06 0.096709 -0.014 0.06"/><mesh name="oval_h10" vertex="0.117474 -0.026 0.072 0.117474 -0.014 0.072 0.133853 -0.026 0.072 0.133853 -0.014 0.072 0.129486 -0.026 0.06 0.129486 -0.014 0.06 0.121842 -0.026 0.06 0.121842 -0.014 0.06"/><mesh name="oval_h11" vertex="-0.133853 0.014 -0.072 -0.133853 0.026 -0.072 -0.117474 0.014 -0.072 -0.117474 0.026 -0.072 -0.121842 0.014 -0.06 -0.121842 0.026 -0.06 -0.129486 0.014 -0.06 -0.129486 0.026 -0.06"/><mesh name="oval_h12" vertex="-0.108721 0.014 -0.072 -0.108721 0.026 -0.072 -0.092341 0.014 -0.072 -0.092341 0.026 -0.072 -0.096709 0.014 -0.06 -0.096709 0.026 -0.06 -0.104353 0.014 -0.06 -0.104353 0.026 -0.06"/><mesh name="oval_h13" vertex="-0.083588 0.014 -0.072 -0.083588 0.026 -0.072 -0.067209 0.014 -0.072 -0.067209 0.026 -0.072 -0.071576 0.014 -0.06 -0.071576 0.026 -0.06 -0.07922 0.014 -0.06 -0.07922 0.026 -0.06"/><mesh name="oval_h14" vertex="-0.058455 0.014 -0.072 -0.058455 0.026 -0.072 -0.042076 0.014 -0.072 -0.042076 0.026 -0.072 -0.046443 0.014 -0.06 -0.046443 0.026 -0.06 -0.054087 0.014 -0.06 -0.054087 0.026 -0.06"/><mesh name="oval_h15" vertex="-0.033322 0.014 -0.072 -0.033322 0.026 -0.072 -0.016943 0.014 -0.072 -0.016943 0.026 -0.072 -0.021311 0.014 -0.06 -0.021311 0.026 -0.06 -0.028955 0.014 -0.06 -0.028955 0.026 -0.06"/><mesh name="oval_h16" vertex="-0.00819 0.014 -0.072 -0.00819 0.026 -0.072 0.00819 0.014 -0.072 0.00819 0.026 -0.072 0.003822 0.014 -0.06 0.003822 0.026 -0.06 -0.003822 0.014 -0.06 -0.003822 0.026 -0.06"/><mesh name="oval_h17" vertex="0.016943 0.014 -0.072 0.016943 0.026 -0.072 0.033322 0.014 -0.072 0.033322 0.026 -0.072 0.028955 0.014 -0.06 0.028955 0.026 -0.06 0.021311 0.014 -0.06 0.021311 0.026 -0.06"/><mesh name="oval_h18" vertex="0.042076 0.014 -0.072 0.042076 0.026 -0.072 0.058455 0.014 -0.072 0.058455 0.026 -0.072 0.054087 0.014 -0.06 0.054087 0.026 -0.06 0.046443 0.014 -0.06 0.046443 0.026 -0.06"/><mesh name="oval_h19" vertex="0.067209 0.014 -0.072 0.067209 0.026 -0.072 0.083588 0.014 -0.072 0.083588 0.026 -0.072 0.07922 0.014 -0.06 0.07922 0.026 -0.06 0.071576 0.014 -0.06 0.071576 0.026 -0.06"/><mesh name="oval_h20" vertex="0.092341 0.014 -0.072 0.092341 0.026 -0.072 0.108721 0.014 -0.072 0.108721 0.026 -0.072 0.104353 0.014 -0.06 0.104353 0.026 -0.06 0.096709 0.014 -0.06 0.096709 0.026 -0.06"/><mesh name="oval_h21" vertex="0.117474 0.014 -0.072 0.117474 0.026 -0.072 0.133853 0.014 -0.072 0.133853 0.026 -0.072 0.129486 0.014 -0.06 0.129486 0.026 -0.06 0.121842 0.014 -0.06 0.121842 0.026 -0.06"/></asset>
<size memory="64M"/>
<worldbody>
<body name="pinion_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.00002770883868 -0.01999533643 0.00000389407792" mass="1.134958716" fullinertia="0.001179442617 0.00233320919 0.00118109022 -2.828888302e-7 -2.362121732e-7 -3.975594792e-8"/><geom name="pinion_a_h0" type="mesh" mesh="pinion_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="pinion_a_h1" type="mesh" mesh="pinion_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="pinion_a_h2" type="mesh" mesh="pinion_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="pinion_a_h3" type="mesh" mesh="pinion_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="pinion_a_h4" type="mesh" mesh="pinion_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"/><geom name="pinion_a_h5" type="mesh" mesh="pinion_a_h5" 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="pinion_a_h6" type="mesh" mesh="pinion_a_h6" 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="pinion_a_h7" type="mesh" mesh="pinion_a_h7" 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="pinion_a_h8" type="mesh" mesh="pinion_a_h8" 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="pinion_a_h9" type="mesh" mesh="pinion_a_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"/><geom name="pinion_a_h10" type="mesh" mesh="pinion_a_h10" 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="pinion_a_h11" type="mesh" mesh="pinion_a_h11" 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="pinion_a_h12" type="mesh" mesh="pinion_a_h12" 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="pinion_a_h13" type="mesh" mesh="pinion_a_h13" 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="pinion_a_h14" type="mesh" mesh="pinion_a_h14" 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="pinion_a_h15" type="mesh" mesh="pinion_a_h15" 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 name="pawl_a" pos="0.053474 0 0.007515"><joint name="j_pa" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-0.6 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.005218 -0.008 -0.0083315" mass="0.001084023337" fullinertia="2.58636494e-8 3.553027999e-8 1.088615685e-8 0 -1.543455975e-8 0"/><geom name="pawl_a_h0" type="capsule" fromto="0 -0.008 0 -0.010436 -0.008 -0.016663" size="0.0015" 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"/></body>
</body>
<body name="pinion_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.00002770883868 0.01999533643 0.00000389407792" mass="1.134958716" fullinertia="0.001179442617 0.00233320919 0.00118109022 2.828888302e-7 -2.362121732e-7 3.975594792e-8"/><geom name="pinion_b_h0" type="mesh" mesh="pinion_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="pinion_b_h1" type="mesh" mesh="pinion_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="pinion_b_h2" type="mesh" mesh="pinion_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="pinion_b_h3" type="mesh" mesh="pinion_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="pinion_b_h4" type="mesh" mesh="pinion_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="pinion_b_h5" type="mesh" mesh="pinion_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="pinion_b_h6" type="mesh" mesh="pinion_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="pinion_b_h7" type="mesh" mesh="pinion_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="pinion_b_h8" type="mesh" mesh="pinion_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="pinion_b_h9" type="mesh" mesh="pinion_b_h9" 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="pinion_b_h10" type="mesh" mesh="pinion_b_h10" 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="pinion_b_h11" type="mesh" mesh="pinion_b_h11" 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="pinion_b_h12" type="mesh" mesh="pinion_b_h12" 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="pinion_b_h13" type="mesh" mesh="pinion_b_h13" 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="pinion_b_h14" type="mesh" mesh="pinion_b_h14" 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="pinion_b_h15" type="mesh" mesh="pinion_b_h15" 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"/><body name="pawl_b" pos="0.053474 0 0.007515"><joint name="j_pb" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-0.6 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.005218 0.008 -0.0083315" mass="0.001084023337" fullinertia="2.58636494e-8 3.553027999e-8 1.088615685e-8 0 -1.543455975e-8 0"/><geom name="pawl_b_h0" type="capsule" fromto="0 0.008 0 -0.010436 0.008 -0.016663" size="0.0015" 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"/></body>
</body>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 0 0" mass="0.7469021214" fullinertia="0.0003753958919 0.0006011514733 0.0003753958919 0 0 0"/><geom name="shaft_h0" type="mesh" mesh="shaft_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="shaft_h1" type="mesh" mesh="shaft_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="shaft_h2" type="mesh" mesh="shaft_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="shaft_h3" type="mesh" mesh="shaft_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="shaft_h4" type="mesh" mesh="shaft_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"/><geom name="shaft_h5" type="mesh" mesh="shaft_h5" 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="shaft_h6" type="mesh" mesh="shaft_h6" 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="shaft_h7" type="mesh" mesh="shaft_h7" 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="shaft_h8" type="mesh" mesh="shaft_h8" 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="shaft_h9" type="mesh" mesh="shaft_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"/><geom name="shaft_h10" type="mesh" mesh="shaft_h10" 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="shaft_h11" type="mesh" mesh="shaft_h11" 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="shaft_h12" type="mesh" mesh="shaft_h12" 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="shaft_h13" type="mesh" mesh="shaft_h13" 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="shaft_h14" type="mesh" mesh="shaft_h14" 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="shaft_h15" type="mesh" mesh="shaft_h15" 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="shaft_h16" type="mesh" mesh="shaft_h16" 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="shaft_h17" type="mesh" mesh="shaft_h17" 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="shaft_h18" type="mesh" mesh="shaft_h18" 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="shaft_h19" type="mesh" mesh="shaft_h19" 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="shaft_h20" type="mesh" mesh="shaft_h20" 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="shaft_h21" type="mesh" mesh="shaft_h21" 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="shaft_h22" type="mesh" mesh="shaft_h22" 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="shaft_h23" type="mesh" mesh="shaft_h23" 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="shaft_h24" type="mesh" mesh="shaft_h24" 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="shaft_h25" type="mesh" mesh="shaft_h25" 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="shaft_h26" type="mesh" mesh="shaft_h26" 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="shaft_h27" type="mesh" mesh="shaft_h27" 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="shaft_h28" type="mesh" mesh="shaft_h28" 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="shaft_h29" type="mesh" mesh="shaft_h29" 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="shaft_h30" type="mesh" mesh="shaft_h30" 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="shaft_h31" type="mesh" mesh="shaft_h31" 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="shaft_h32" type="mesh" mesh="shaft_h32" 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="shaft_h33" type="mesh" mesh="shaft_h33" 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="shaft_h34" type="mesh" mesh="shaft_h34" 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="shaft_h35" type="mesh" mesh="shaft_h35" 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="shaft_h36" type="mesh" mesh="shaft_h36" 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="shaft_h37" type="mesh" mesh="shaft_h37" 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="shaft_h38" type="mesh" mesh="shaft_h38" 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="shaft_h39" type="mesh" mesh="shaft_h39" 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="oval" pos="0 0 0"><joint name="j_f" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0" mass="1.503391359" fullinertia="0.007182108626 0.03502491515 0.02854854697 0 0 0.0001371147679"/><geom name="oval_h0" type="mesh" mesh="oval_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="oval_h1" type="mesh" mesh="oval_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="oval_h2" type="mesh" mesh="oval_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="oval_h3" type="mesh" mesh="oval_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="oval_h4" type="mesh" mesh="oval_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="oval_h5" type="mesh" mesh="oval_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="oval_h6" type="mesh" mesh="oval_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="oval_h7" type="mesh" mesh="oval_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="oval_h8" type="mesh" mesh="oval_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="oval_h9" type="mesh" mesh="oval_h9" 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="oval_h10" type="mesh" mesh="oval_h10" 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="oval_h11" type="mesh" mesh="oval_h11" 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="oval_h12" type="mesh" mesh="oval_h12" 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="oval_h13" type="mesh" mesh="oval_h13" 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="oval_h14" type="mesh" mesh="oval_h14" 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="oval_h15" type="mesh" mesh="oval_h15" 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="oval_h16" type="mesh" mesh="oval_h16" 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="oval_h17" type="mesh" mesh="oval_h17" 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="oval_h18" type="mesh" mesh="oval_h18" 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="oval_h19" type="mesh" mesh="oval_h19" 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="oval_h20" type="mesh" mesh="oval_h20" 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="oval_h21" type="mesh" mesh="oval_h21" 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"></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_f" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
