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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="pinion_up_t4" type="mesh" mesh="pinion_up_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="pinion_up_t5" type="mesh" mesh="pinion_up_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="pinion_up_t6" type="mesh" mesh="pinion_up_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="pinion_up_t7" type="mesh" mesh="pinion_up_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="pinion_up_t8" type="mesh" mesh="pinion_up_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="pinion_up_t9" type="mesh" mesh="pinion_up_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="pinion_up_t10" type="mesh" mesh="pinion_up_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="pinion_up_t11" type="mesh" mesh="pinion_up_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="pinion_up_t12" type="mesh" mesh="pinion_up_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="pinion_up_t13" type="mesh" mesh="pinion_up_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="pinion_up_t14" type="mesh" mesh="pinion_up_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="pinion_up_t15" type="mesh" mesh="pinion_up_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="pinion_up_t16" type="mesh" mesh="pinion_up_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="pinion_up_t17" type="mesh" mesh="pinion_up_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="pinion_up_t18" type="mesh" mesh="pinion_up_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="pinion_up_t19" type="mesh" mesh="pinion_up_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="pinion_up_t20" type="mesh" mesh="pinion_up_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="pinion_up_t21" type="mesh" mesh="pinion_up_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="pinion_up_t22" type="mesh" mesh="pinion_up_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="pinion_up_t23" type="mesh" mesh="pinion_up_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="pinion_up_t24" type="mesh" mesh="pinion_up_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="pinion_up_root" type="mesh" mesh="pinion_up_root" contype="0" conaffinity="0" group="1" mass="0"/></body>
<geom name="sh_sleeve" type="capsule" fromto="0 -0.007 0 0 0.052 0" size="0.0055" contype="0" conaffinity="0" group="1" 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_face" kv="6" forcerange="-6 6"/></actuator>
</mujoco>
