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<body name="pinion" pos="-0.076394 -0.029 0"><joint name="j_pinion" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0.002"/><inertial pos="0.04532992279 0 0" mass="0.1929868476" fullinertia="0.00001394244779 0.0009195996209 0.0009195998447 0 0 0"/><geom name="pinion_h0" type="mesh" mesh="pinion_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h1" type="mesh" mesh="pinion_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h2" type="mesh" mesh="pinion_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h3" type="mesh" mesh="pinion_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 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mass="0"/><geom name="pinion_h9" type="mesh" mesh="pinion_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h10" type="mesh" mesh="pinion_h10" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h11" type="mesh" mesh="pinion_h11" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h12" type="mesh" mesh="pinion_h12" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom name="pinion_h13" type="mesh" mesh="pinion_h13" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.98 0.99 0.0002" margin="0" group="2" mass="0"/><geom 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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_wheel" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
