<mujoco model="216-mutilated-internal-external-cog-wheels">
<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="wheel_h0" vertex="-0.161987 -0.01 -0.070594 -0.161987 0.01 -0.070594 -0.154511 -0.01 -0.085731 -0.154511 0.01 -0.085731 -0.144061 -0.01 -0.075048 -0.144061 0.01 -0.075048 -0.147153 -0.01 -0.068788 -0.147153 0.01 -0.068788"/><mesh name="wheel_h1" vertex="-0.149657 -0.01 -0.093949 -0.149657 0.01 -0.093949 -0.140008 -0.01 -0.107802 -0.140008 0.01 -0.107802 -0.131267 -0.01 -0.095681 -0.131267 0.01 -0.095681 -0.135257 -0.01 -0.089952 -0.135257 0.01 -0.089952"/><mesh name="wheel_h2" vertex="-0.133983 -0.01 -0.115205 -0.133983 0.01 -0.115205 -0.122377 -0.01 -0.127465 -0.122377 0.01 -0.127465 -0.11554 -0.01 -0.114177 -0.11554 0.01 -0.114177 -0.12034 -0.01 -0.109107 -0.12034 0.01 -0.109107"/><mesh name="wheel_h3" vertex="-0.115316 -0.01 -0.133887 -0.115316 0.01 -0.133887 -0.102013 -0.01 -0.144281 -0.102013 0.01 -0.144281 -0.097233 -0.01 -0.130122 -0.097233 0.01 -0.130122 -0.102734 -0.01 -0.125824 -0.102734 0.01 -0.125824"/><mesh name="wheel_h4" vertex="-0.094073 -0.01 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0.022494 0.057617 -0.01 0.022069 0.057617 0.01 0.022069 0.059741 -0.01 0.015418 0.059741 0.01 0.015418"/><mesh name="wheel_h9" vertex="0.040299 -0.01 0.026524 0.040299 0.01 0.026524 0.028693 -0.01 0.038784 0.028693 0.01 0.038784 0.042336 -0.01 0.044882 0.042336 0.01 0.044882 0.047136 -0.01 0.039812 0.047136 0.01 0.039812"/><mesh name="wheel_h10" vertex="0.0248 -0.01 0.041382 0.0248 0.01 0.041382 0.009024 -0.01 0.047393 0.009024 0.01 0.047393 0.01867 -0.01 0.058806 0.01867 0.01 0.058806 0.025194 -0.01 0.05632 0.025194 0.01 0.05632"/><mesh name="wheel_h11" vertex="0.004389 -0.01 0.048044 0.004389 0.01 0.048044 -0.012433 -0.01 0.046615 -0.012433 0.01 0.046615 -0.008694 -0.01 0.061083 -0.008694 0.01 0.061083 -0.001737 -0.01 0.061674 -0.001737 0.01 0.061674"/><mesh name="wheel_h12" vertex="-0.016891 -0.01 0.04519 -0.016891 0.01 0.04519 -0.031427 -0.01 0.036604 -0.031427 0.01 0.036604 -0.034336 -0.01 0.051262 -0.034336 0.01 0.051262 -0.028325 -0.01 0.054813 -0.028325 0.01 0.054813"/><mesh name="wheel_h13" vertex="-0.034826 -0.01 0.033386 -0.034826 0.01 0.033386 -0.044196 -0.01 0.019344 -0.044196 0.01 0.019344 -0.053178 -0.01 0.031287 -0.053178 0.01 0.031287 -0.049302 -0.01 0.037095 -0.049302 0.01 0.037095"/><mesh name="wheel_h14" vertex="0.016891 -0.01 -0.04519 0.016891 0.01 -0.04519 0.031427 -0.01 -0.036604 0.031427 0.01 -0.036604 0.034336 -0.01 -0.051262 0.034336 0.01 -0.051262 0.028325 -0.01 -0.054813 0.028325 0.01 -0.054813"/><mesh name="wheel_h15" vertex="0.034826 -0.01 -0.033386 0.034826 0.01 -0.033386 0.044196 -0.01 -0.019344 0.044196 0.01 -0.019344 0.053178 -0.01 -0.031287 0.053178 0.01 -0.031287 0.049302 -0.01 -0.037095 0.049302 0.01 -0.037095"/><mesh name="pinion_h0" vertex="0.048187 -0.01 0.00234 0.048187 0.01 0.00234 0.044431 -0.01 0.018799 0.044431 0.01 0.018799 0.059279 -0.01 0.017111 0.059279 0.01 0.017111 0.060832 -0.01 0.010304 0.060832 0.01 0.010304"/><mesh name="pinion_h1" vertex="0.0424 -0.01 0.023016 0.0424 0.01 0.023016 0.031874 -0.01 0.036215 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0.041136"/><mesh name="pinion_h6" vertex="-0.044431 -0.01 0.018799 -0.044431 0.01 0.018799 -0.048187 -0.01 0.00234 -0.048187 0.01 0.00234 -0.060832 -0.01 0.010304 -0.060832 0.01 0.010304 -0.059279 -0.01 0.017111 -0.059279 0.01 0.017111"/><mesh name="pinion_h7" vertex="-0.048187 -0.01 -0.00234 -0.048187 0.01 -0.00234 -0.044431 -0.01 -0.018799 -0.044431 0.01 -0.018799 -0.059279 -0.01 -0.017111 -0.059279 0.01 -0.017111 -0.060832 -0.01 -0.010304 -0.060832 0.01 -0.010304"/><mesh name="pinion_h8" vertex="-0.0424 -0.01 -0.023016 -0.0424 0.01 -0.023016 -0.031874 -0.01 -0.036215 -0.031874 0.01 -0.036215 -0.045984 -0.01 -0.041136 -0.045984 0.01 -0.041136 -0.050337 -0.01 -0.035678 -0.050337 0.01 -0.035678"/><mesh name="pinion_h9" vertex="-0.028215 -0.01 -0.039134 -0.028215 0.01 -0.039134 -0.013004 -0.01 -0.046458 -0.013004 0.01 -0.046458 -0.023582 -0.01 -0.057014 -0.023582 0.01 -0.057014 -0.029872 -0.01 -0.053985 -0.029872 0.01 -0.053985"/><mesh name="pinion_h10" vertex="-0.008441 -0.01 -0.0475 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<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 -1 0" damping="0.01" frictionloss="0"/><inertial pos="-7.574572535e-8 0.005815020936 -6.847725768e-8" mass="8.264292152" fullinertia="0.08901027793 0.17522397 0.08717995247 -0.0002715092692 -0.003237294538 -0.0003737034576"/><geom name="wheel_h0" type="mesh" mesh="wheel_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="wheel_h1" type="mesh" mesh="wheel_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="wheel_h2" type="mesh" mesh="wheel_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="wheel_h3" type="mesh" mesh="wheel_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="wheel_h4" type="mesh" mesh="wheel_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="wheel_h5" type="mesh" mesh="wheel_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="wheel_h6" type="mesh" mesh="wheel_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="wheel_h7" type="mesh" mesh="wheel_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="wheel_h8" type="mesh" mesh="wheel_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="wheel_h9" type="mesh" mesh="wheel_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="wheel_h10" type="mesh" mesh="wheel_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="wheel_h11" type="mesh" mesh="wheel_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="wheel_h12" type="mesh" mesh="wheel_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="wheel_h13" type="mesh" mesh="wheel_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="wheel_h14" type="mesh" mesh="wheel_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="wheel_h15" type="mesh" mesh="wheel_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>
<body name="pinion" pos="0 0 -0.112"><joint name="j_pinion" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 -0.00008250791533 0" mass="1.47547022" fullinertia="0.001217478497 0.002334508625 0.001217484845 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="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h4" type="mesh" mesh="pinion_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_h5" type="mesh" mesh="pinion_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_h6" type="mesh" mesh="pinion_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_h7" type="mesh" mesh="pinion_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_h8" type="mesh" mesh="pinion_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_h9" type="mesh" mesh="pinion_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" 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="0.95 0.99 0.0005" 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="0.95 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_wheel" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
