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<body name="gear_2" pos="0 0 -0.096"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0001746665991 -0.00003990164461 -0.0001465606407" mass="1.134894905" fullinertia="0.003607373486 0.007190774526 0.003610055813 0.000002073486818 0.000007610993516 -0.000001739837828"/><geom name="gear_2_h0" type="mesh" mesh="gear_2_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="gear_2_h1" type="mesh" mesh="gear_2_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="gear_2_h2" type="mesh" mesh="gear_2_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="gear_2_h3" type="mesh" mesh="gear_2_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="gear_2_h4" type="mesh" mesh="gear_2_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="gear_2_h5" type="mesh" mesh="gear_2_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="gear_2_h6" type="mesh" mesh="gear_2_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="gear_2_h7" type="mesh" mesh="gear_2_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="gear_2_h8" type="mesh" mesh="gear_2_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="gear_2_h9" type="mesh" mesh="gear_2_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="gear_2_h10" type="mesh" mesh="gear_2_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="gear_2_h11" type="mesh" mesh="gear_2_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="gear_2_h12" type="mesh" mesh="gear_2_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="gear_2_h13" type="mesh" mesh="gear_2_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="gear_2_h14" type="mesh" mesh="gear_2_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="gear_2_h15" type="mesh" mesh="gear_2_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"/><geom name="gear_2_h16" type="mesh" mesh="gear_2_h16" 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="gear_2_h17" type="mesh" mesh="gear_2_h17" 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="gear_2_h18" type="mesh" mesh="gear_2_h18" 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="gear_2_h19" type="mesh" mesh="gear_2_h19" 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="gear_2_h20" type="mesh" mesh="gear_2_h20" 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="gear_2_h21" type="mesh" mesh="gear_2_h21" 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="gear_2_h22" type="mesh" mesh="gear_2_h22" 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="gear_2_h23" type="mesh" mesh="gear_2_h23" 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="rod_2" pos="0.045963 0 -0.038567"><joint name="j_r2" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.09491172796 -0.012 0.03647375447" mass="0.2" fullinertia="0.0001201118397 0.0009193975292 0.0008004856895 0 -0.0003067672976 0"/></body>
</body>
<body name="bar_x" pos="0.24 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.08859349328 -0.019 0" mass="0.5" fullinertia="0.000007554717044 0.002004485638 0.001999930921 0 0 0"/><body name="link" pos="0 0 0"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.01312777969 0" mass="0.3" fullinertia="0.000390349282 0.0003913619302 0.000003591234771 0 0 0"/></body>
</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><connect name="pin_1" body1="rod_1" body2="link" anchor="0.18 0 -0.036" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_2" body1="rod_2" body2="link" anchor="0.194037 0 0.074567" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_1" body2="link"/><exclude body1="rod_2" body2="link"/></contact>
<actuator><velocity name="drive" joint="j_1" kv="1" forcerange="-20 20"/></actuator>
</mujoco>
