<mujoco model="219-eccentric-crown-wheel-pinion">
<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="crown_h0" vertex="0.149584 0.001899 -0.0055 0.146899 0.004584 -0.0055 0.143101 0.004584 -0.0055 0.140416 0.001899 -0.0055 0.140416 -0.001899 -0.0055 0.143101 -0.004584 -0.0055 0.146899 -0.004584 -0.0055 0.149584 -0.001899 -0.0055 0.146726 0.000715 0.0035 0.145715 0.001726 0.0035 0.144285 0.001726 0.0035 0.143274 0.000715 0.0035 0.143274 -0.000715 0.0035 0.144285 -0.001726 0.0035 0.145715 -0.001726 0.0035 0.146726 -0.000715 0.0035"/><mesh name="crown_h1" vertex="0.148557 0.017562 -0.0055 0.145872 0.020247 -0.0055 0.142075 0.020247 -0.0055 0.13939 0.017562 -0.0055 0.13939 0.013764 -0.0055 0.142075 0.011079 -0.0055 0.145872 0.011079 -0.0055 0.148557 0.013764 -0.0055 0.145699 0.016378 0.0035 0.144688 0.017389 0.0035 0.143259 0.017389 0.0035 0.142248 0.016378 0.0035 0.142248 0.014948 0.0035 0.143259 0.013938 0.0035 0.144688 0.013938 0.0035 0.145699 0.014948 0.0035"/><mesh name="crown_h2" vertex="0.145495 0.032957 -0.0055 0.14281 0.035642 -0.0055 0.139012 0.035642 -0.0055 0.136327 0.032957 -0.0055 0.136327 0.02916 -0.0055 0.139012 0.026475 -0.0055 0.14281 0.026475 -0.0055 0.145495 0.02916 -0.0055 0.142637 0.031773 0.0035 0.141626 0.032784 0.0035 0.140196 0.032784 0.0035 0.139186 0.031773 0.0035 0.139186 0.030344 0.0035 0.140196 0.029333 0.0035 0.141626 0.029333 0.0035 0.142637 0.030344 0.0035"/><mesh name="crown_h3" vertex="0.140449 0.047821 -0.0055 0.137764 0.050506 -0.0055 0.133967 0.050506 -0.0055 0.131282 0.047821 -0.0055 0.131282 0.044023 -0.0055 0.133967 0.041338 -0.0055 0.137764 0.041338 -0.0055 0.140449 0.044023 -0.0055 0.137591 0.046637 0.0035 0.13658 0.047648 0.0035 0.135151 0.047648 0.0035 0.13414 0.046637 0.0035 0.13414 0.045207 0.0035 0.135151 0.044196 0.0035 0.13658 0.044196 0.0035 0.137591 0.045207 0.0035"/><mesh name="crown_h4" vertex="0.133507 0.061899 -0.0055 0.130822 0.064584 -0.0055 0.127024 0.064584 -0.0055 0.124339 0.061899 -0.0055 0.124339 0.058101 -0.0055 0.127024 0.055416 -0.0055 0.130822 0.055416 -0.0055 0.133507 0.058101 -0.0055 0.130649 0.060715 0.0035 0.129638 0.061726 0.0035 0.128208 0.061726 0.0035 0.127198 0.060715 0.0035 0.127198 0.059285 0.0035 0.128208 0.058274 0.0035 0.129638 0.058274 0.0035 0.130649 0.059285 0.0035"/><mesh name="crown_h5" vertex="0.124786 0.07495 -0.0055 0.122101 0.077635 -0.0055 0.118304 0.077635 -0.0055 0.115619 0.07495 -0.0055 0.115619 0.071153 -0.0055 0.118304 0.068468 -0.0055 0.122101 0.068468 -0.0055 0.124786 0.071153 -0.0055 0.121928 0.073766 0.0035 0.120917 0.074777 0.0035 0.119488 0.074777 0.0035 0.118477 0.073766 0.0035 0.118477 0.072337 0.0035 0.119488 0.071326 0.0035 0.120917 0.071326 0.0035 0.121928 0.072337 0.0035"/><mesh name="crown_h6" vertex="0.114437 0.086751 -0.0055 0.111751 0.089437 -0.0055 0.107954 0.089437 -0.0055 0.105269 0.086751 -0.0055 0.105269 0.082954 -0.0055 0.107954 0.080269 -0.0055 0.111751 0.080269 -0.0055 0.114437 0.082954 -0.0055 0.111578 0.085568 0.0035 0.110568 0.086578 0.0035 0.109138 0.086578 0.0035 0.108127 0.085568 0.0035 0.108127 0.084138 0.0035 0.109138 0.083127 0.0035 0.110568 0.083127 0.0035 0.111578 0.084138 0.0035"/><mesh name="crown_h7" vertex="0.102635 0.097101 -0.0055 0.09995 0.099786 -0.0055 0.096153 0.099786 -0.0055 0.093468 0.097101 -0.0055 0.093468 0.093304 -0.0055 0.096153 0.090619 -0.0055 0.09995 0.090619 -0.0055 0.102635 0.093304 -0.0055 0.099777 0.095917 0.0035 0.098766 0.096928 0.0035 0.097337 0.096928 0.0035 0.096326 0.095917 0.0035 0.096326 0.094488 0.0035 0.097337 0.093477 0.0035 0.098766 0.093477 0.0035 0.099777 0.094488 0.0035"/><mesh name="crown_h8" vertex="0.089584 0.105822 -0.0055 0.086899 0.108507 -0.0055 0.083101 0.108507 -0.0055 0.080416 0.105822 -0.0055 0.080416 0.102024 -0.0055 0.083101 0.099339 -0.0055 0.086899 0.099339 -0.0055 0.089584 0.102024 -0.0055 0.086726 0.104638 0.0035 0.085715 0.105649 0.0035 0.084285 0.105649 0.0035 0.083274 0.104638 0.0035 0.083274 0.103208 0.0035 0.084285 0.102198 0.0035 0.085715 0.102198 0.0035 0.086726 0.103208 0.0035"/><mesh name="crown_h9" vertex="0.075506 0.112764 -0.0055 0.072821 0.115449 -0.0055 0.069023 0.115449 -0.0055 0.066338 0.112764 -0.0055 0.066338 0.108967 -0.0055 0.069023 0.106282 -0.0055 0.072821 0.106282 -0.0055 0.075506 0.108967 -0.0055 0.072648 0.11158 0.0035 0.071637 0.112591 0.0035 0.070207 0.112591 0.0035 0.069196 0.11158 0.0035 0.069196 0.110151 0.0035 0.070207 0.10914 0.0035 0.071637 0.10914 0.0035 0.072648 0.110151 0.0035"/><mesh name="crown_h10" vertex="0.060642 0.11781 -0.0055 0.057957 0.120495 -0.0055 0.05416 0.120495 -0.0055 0.051475 0.11781 -0.0055 0.051475 0.114012 -0.0055 0.05416 0.111327 -0.0055 0.057957 0.111327 -0.0055 0.060642 0.114012 -0.0055 0.057784 0.116626 0.0035 0.056773 0.117637 0.0035 0.055344 0.117637 0.0035 0.054333 0.116626 0.0035 0.054333 0.115196 0.0035 0.055344 0.114186 0.0035 0.056773 0.114186 0.0035 0.057784 0.115196 0.0035"/><mesh name="crown_h11" vertex="0.045247 0.120872 -0.0055 0.042562 0.123557 -0.0055 0.038764 0.123557 -0.0055 0.036079 0.120872 -0.0055 0.036079 0.117075 -0.0055 0.038764 0.11439 -0.0055 0.042562 0.11439 -0.0055 0.045247 0.117075 -0.0055 0.042389 0.119688 0.0035 0.041378 0.120699 0.0035 0.039948 0.120699 0.0035 0.038938 0.119688 0.0035 0.038938 0.118259 0.0035 0.039948 0.117248 0.0035 0.041378 0.117248 0.0035 0.042389 0.118259 0.0035"/><mesh name="crown_h12" vertex="0.029584 0.121899 -0.0055 0.026899 0.124584 -0.0055 0.023101 0.124584 -0.0055 0.020416 0.121899 -0.0055 0.020416 0.118101 -0.0055 0.023101 0.115416 -0.0055 0.026899 0.115416 -0.0055 0.029584 0.118101 -0.0055 0.026726 0.120715 0.0035 0.025715 0.121726 0.0035 0.024285 0.121726 0.0035 0.023274 0.120715 0.0035 0.023274 0.119285 0.0035 0.024285 0.118274 0.0035 0.025715 0.118274 0.0035 0.026726 0.119285 0.0035"/><mesh name="crown_h13" vertex="0.013921 0.120872 -0.0055 0.011236 0.123557 -0.0055 0.007438 0.123557 -0.0055 0.004753 0.120872 -0.0055 0.004753 0.117075 -0.0055 0.007438 0.11439 -0.0055 0.011236 0.11439 -0.0055 0.013921 0.117075 -0.0055 0.011062 0.119688 0.0035 0.010052 0.120699 0.0035 0.008622 0.120699 0.0035 0.007611 0.119688 0.0035 0.007611 0.118259 0.0035 0.008622 0.117248 0.0035 0.010052 0.117248 0.0035 0.011062 0.118259 0.0035"/><mesh name="crown_h14" vertex="-0.001475 0.11781 -0.0055 -0.00416 0.120495 -0.0055 -0.007957 0.120495 -0.0055 -0.010642 0.11781 -0.0055 -0.010642 0.114012 -0.0055 -0.007957 0.111327 -0.0055 -0.00416 0.111327 -0.0055 -0.001475 0.114012 -0.0055 -0.004333 0.116626 0.0035 -0.005344 0.117637 0.0035 -0.006773 0.117637 0.0035 -0.007784 0.116626 0.0035 -0.007784 0.115196 0.0035 -0.006773 0.114186 0.0035 -0.005344 0.114186 0.0035 -0.004333 0.115196 0.0035"/><mesh name="crown_h15" vertex="-0.016338 0.112764 -0.0055 -0.019023 0.115449 -0.0055 -0.022821 0.115449 -0.0055 -0.025506 0.112764 -0.0055 -0.025506 0.108967 -0.0055 -0.022821 0.106282 -0.0055 -0.019023 0.106282 -0.0055 -0.016338 0.108967 -0.0055 -0.019196 0.11158 0.0035 -0.020207 0.112591 0.0035 -0.021637 0.112591 0.0035 -0.022648 0.11158 0.0035 -0.022648 0.110151 0.0035 -0.021637 0.10914 0.0035 -0.020207 0.10914 0.0035 -0.019196 0.110151 0.0035"/><mesh name="crown_h16" vertex="-0.030416 0.105822 -0.0055 -0.033101 0.108507 -0.0055 -0.036899 0.108507 -0.0055 -0.039584 0.105822 -0.0055 -0.039584 0.102024 -0.0055 -0.036899 0.099339 -0.0055 -0.033101 0.099339 -0.0055 -0.030416 0.102024 -0.0055 -0.033274 0.104638 0.0035 -0.034285 0.105649 0.0035 -0.035715 0.105649 0.0035 -0.036726 0.104638 0.0035 -0.036726 0.103208 0.0035 -0.035715 0.102198 0.0035 -0.034285 0.102198 0.0035 -0.033274 0.103208 0.0035"/><mesh name="crown_h17" vertex="-0.043468 0.097101 -0.0055 -0.046153 0.099786 -0.0055 -0.04995 0.099786 -0.0055 -0.052635 0.097101 -0.0055 -0.052635 0.093304 -0.0055 -0.04995 0.090619 -0.0055 -0.046153 0.090619 -0.0055 -0.043468 0.093304 -0.0055 -0.046326 0.095917 0.0035 -0.047337 0.096928 0.0035 -0.048766 0.096928 0.0035 -0.049777 0.095917 0.0035 -0.049777 0.094488 0.0035 -0.048766 0.093477 0.0035 -0.047337 0.093477 0.0035 -0.046326 0.094488 0.0035"/><mesh name="crown_h18" vertex="-0.055269 0.086751 -0.0055 -0.057954 0.089437 -0.0055 -0.061751 0.089437 -0.0055 -0.064437 0.086751 -0.0055 -0.064437 0.082954 -0.0055 -0.061751 0.080269 -0.0055 -0.057954 0.080269 -0.0055 -0.055269 0.082954 -0.0055 -0.058127 0.085568 0.0035 -0.059138 0.086578 0.0035 -0.060568 0.086578 0.0035 -0.061578 0.085568 0.0035 -0.061578 0.084138 0.0035 -0.060568 0.083127 0.0035 -0.059138 0.083127 0.0035 -0.058127 0.084138 0.0035"/><mesh name="crown_h19" vertex="-0.065619 0.07495 -0.0055 -0.068304 0.077635 -0.0055 -0.072101 0.077635 -0.0055 -0.074786 0.07495 -0.0055 -0.074786 0.071153 -0.0055 -0.072101 0.068468 -0.0055 -0.068304 0.068468 -0.0055 -0.065619 0.071153 -0.0055 -0.068477 0.073766 0.0035 -0.069488 0.074777 0.0035 -0.070917 0.074777 0.0035 -0.071928 0.073766 0.0035 -0.071928 0.072337 0.0035 -0.070917 0.071326 0.0035 -0.069488 0.071326 0.0035 -0.068477 0.072337 0.0035"/><mesh name="crown_h20" vertex="-0.074339 0.061899 -0.0055 -0.077024 0.064584 -0.0055 -0.080822 0.064584 -0.0055 -0.083507 0.061899 -0.0055 -0.083507 0.058101 -0.0055 -0.080822 0.055416 -0.0055 -0.077024 0.055416 -0.0055 -0.074339 0.058101 -0.0055 -0.077198 0.060715 0.0035 -0.078208 0.061726 0.0035 -0.079638 0.061726 0.0035 -0.080649 0.060715 0.0035 -0.080649 0.059285 0.0035 -0.079638 0.058274 0.0035 -0.078208 0.058274 0.0035 -0.077198 0.059285 0.0035"/><mesh name="crown_h21" vertex="-0.081282 0.047821 -0.0055 -0.083967 0.050506 -0.0055 -0.087764 0.050506 -0.0055 -0.090449 0.047821 -0.0055 -0.090449 0.044023 -0.0055 -0.087764 0.041338 -0.0055 -0.083967 0.041338 -0.0055 -0.081282 0.044023 -0.0055 -0.08414 0.046637 0.0035 -0.085151 0.047648 0.0035 -0.08658 0.047648 0.0035 -0.087591 0.046637 0.0035 -0.087591 0.045207 0.0035 -0.08658 0.044196 0.0035 -0.085151 0.044196 0.0035 -0.08414 0.045207 0.0035"/><mesh name="crown_h22" vertex="-0.086327 0.032957 -0.0055 -0.089012 0.035642 -0.0055 -0.09281 0.035642 -0.0055 -0.095495 0.032957 -0.0055 -0.095495 0.02916 -0.0055 -0.09281 0.026475 -0.0055 -0.089012 0.026475 -0.0055 -0.086327 0.02916 -0.0055 -0.089186 0.031773 0.0035 -0.090196 0.032784 0.0035 -0.091626 0.032784 0.0035 -0.092637 0.031773 0.0035 -0.092637 0.030344 0.0035 -0.091626 0.029333 0.0035 -0.090196 0.029333 0.0035 -0.089186 0.030344 0.0035"/><mesh name="crown_h23" vertex="-0.08939 0.017562 -0.0055 -0.092075 0.020247 -0.0055 -0.095872 0.020247 -0.0055 -0.098557 0.017562 -0.0055 -0.098557 0.013764 -0.0055 -0.095872 0.011079 -0.0055 -0.092075 0.011079 -0.0055 -0.08939 0.013764 -0.0055 -0.092248 0.016378 0.0035 -0.093259 0.017389 0.0035 -0.094688 0.017389 0.0035 -0.095699 0.016378 0.0035 -0.095699 0.014948 0.0035 -0.094688 0.013938 0.0035 -0.093259 0.013938 0.0035 -0.092248 0.014948 0.0035"/><mesh name="crown_h24" vertex="-0.090416 0.001899 -0.0055 -0.093101 0.004584 -0.0055 -0.096899 0.004584 -0.0055 -0.099584 0.001899 -0.0055 -0.099584 -0.001899 -0.0055 -0.096899 -0.004584 -0.0055 -0.093101 -0.004584 -0.0055 -0.090416 -0.001899 -0.0055 -0.093274 0.000715 0.0035 -0.094285 0.001726 0.0035 -0.095715 0.001726 0.0035 -0.096726 0.000715 0.0035 -0.096726 -0.000715 0.0035 -0.095715 -0.001726 0.0035 -0.094285 -0.001726 0.0035 -0.093274 -0.000715 0.0035"/><mesh name="crown_h25" vertex="-0.08939 -0.013764 -0.0055 -0.092075 -0.011079 -0.0055 -0.095872 -0.011079 -0.0055 -0.098557 -0.013764 -0.0055 -0.098557 -0.017562 -0.0055 -0.095872 -0.020247 -0.0055 -0.092075 -0.020247 -0.0055 -0.08939 -0.017562 -0.0055 -0.092248 -0.014948 0.0035 -0.093259 -0.013938 0.0035 -0.094688 -0.013938 0.0035 -0.095699 -0.014948 0.0035 -0.095699 -0.016378 0.0035 -0.094688 -0.017389 0.0035 -0.093259 -0.017389 0.0035 -0.092248 -0.016378 0.0035"/><mesh name="crown_h26" vertex="-0.086327 -0.02916 -0.0055 -0.089012 -0.026475 -0.0055 -0.09281 -0.026475 -0.0055 -0.095495 -0.02916 -0.0055 -0.095495 -0.032957 -0.0055 -0.09281 -0.035642 -0.0055 -0.089012 -0.035642 -0.0055 -0.086327 -0.032957 -0.0055 -0.089186 -0.030344 0.0035 -0.090196 -0.029333 0.0035 -0.091626 -0.029333 0.0035 -0.092637 -0.030344 0.0035 -0.092637 -0.031773 0.0035 -0.091626 -0.032784 0.0035 -0.090196 -0.032784 0.0035 -0.089186 -0.031773 0.0035"/><mesh name="crown_h27" vertex="-0.081282 -0.044023 -0.0055 -0.083967 -0.041338 -0.0055 -0.087764 -0.041338 -0.0055 -0.090449 -0.044023 -0.0055 -0.090449 -0.047821 -0.0055 -0.087764 -0.050506 -0.0055 -0.083967 -0.050506 -0.0055 -0.081282 -0.047821 -0.0055 -0.08414 -0.045207 0.0035 -0.085151 -0.044196 0.0035 -0.08658 -0.044196 0.0035 -0.087591 -0.045207 0.0035 -0.087591 -0.046637 0.0035 -0.08658 -0.047648 0.0035 -0.085151 -0.047648 0.0035 -0.08414 -0.046637 0.0035"/><mesh name="crown_h28" vertex="-0.074339 -0.058101 -0.0055 -0.077024 -0.055416 -0.0055 -0.080822 -0.055416 -0.0055 -0.083507 -0.058101 -0.0055 -0.083507 -0.061899 -0.0055 -0.080822 -0.064584 -0.0055 -0.077024 -0.064584 -0.0055 -0.074339 -0.061899 -0.0055 -0.077198 -0.059285 0.0035 -0.078208 -0.058274 0.0035 -0.079638 -0.058274 0.0035 -0.080649 -0.059285 0.0035 -0.080649 -0.060715 0.0035 -0.079638 -0.061726 0.0035 -0.078208 -0.061726 0.0035 -0.077198 -0.060715 0.0035"/><mesh name="crown_h29" vertex="-0.065619 -0.071153 -0.0055 -0.068304 -0.068468 -0.0055 -0.072101 -0.068468 -0.0055 -0.074786 -0.071153 -0.0055 -0.074786 -0.07495 -0.0055 -0.072101 -0.077635 -0.0055 -0.068304 -0.077635 -0.0055 -0.065619 -0.07495 -0.0055 -0.068477 -0.072337 0.0035 -0.069488 -0.071326 0.0035 -0.070917 -0.071326 0.0035 -0.071928 -0.072337 0.0035 -0.071928 -0.073766 0.0035 -0.070917 -0.074777 0.0035 -0.069488 -0.074777 0.0035 -0.068477 -0.073766 0.0035"/><mesh name="crown_h30" vertex="-0.055269 -0.082954 -0.0055 -0.057954 -0.080269 -0.0055 -0.061751 -0.080269 -0.0055 -0.064437 -0.082954 -0.0055 -0.064437 -0.086751 -0.0055 -0.061751 -0.089437 -0.0055 -0.057954 -0.089437 -0.0055 -0.055269 -0.086751 -0.0055 -0.058127 -0.084138 0.0035 -0.059138 -0.083127 0.0035 -0.060568 -0.083127 0.0035 -0.061578 -0.084138 0.0035 -0.061578 -0.085568 0.0035 -0.060568 -0.086578 0.0035 -0.059138 -0.086578 0.0035 -0.058127 -0.085568 0.0035"/><mesh name="crown_h31" vertex="-0.043468 -0.093304 -0.0055 -0.046153 -0.090619 -0.0055 -0.04995 -0.090619 -0.0055 -0.052635 -0.093304 -0.0055 -0.052635 -0.097101 -0.0055 -0.04995 -0.099786 -0.0055 -0.046153 -0.099786 -0.0055 -0.043468 -0.097101 -0.0055 -0.046326 -0.094488 0.0035 -0.047337 -0.093477 0.0035 -0.048766 -0.093477 0.0035 -0.049777 -0.094488 0.0035 -0.049777 -0.095917 0.0035 -0.048766 -0.096928 0.0035 -0.047337 -0.096928 0.0035 -0.046326 -0.095917 0.0035"/><mesh name="crown_h32" vertex="-0.030416 -0.102024 -0.0055 -0.033101 -0.099339 -0.0055 -0.036899 -0.099339 -0.0055 -0.039584 -0.102024 -0.0055 -0.039584 -0.105822 -0.0055 -0.036899 -0.108507 -0.0055 -0.033101 -0.108507 -0.0055 -0.030416 -0.105822 -0.0055 -0.033274 -0.103208 0.0035 -0.034285 -0.102198 0.0035 -0.035715 -0.102198 0.0035 -0.036726 -0.103208 0.0035 -0.036726 -0.104638 0.0035 -0.035715 -0.105649 0.0035 -0.034285 -0.105649 0.0035 -0.033274 -0.104638 0.0035"/><mesh name="crown_h33" vertex="-0.016338 -0.108967 -0.0055 -0.019023 -0.106282 -0.0055 -0.022821 -0.106282 -0.0055 -0.025506 -0.108967 -0.0055 -0.025506 -0.112764 -0.0055 -0.022821 -0.115449 -0.0055 -0.019023 -0.115449 -0.0055 -0.016338 -0.112764 -0.0055 -0.019196 -0.110151 0.0035 -0.020207 -0.10914 0.0035 -0.021637 -0.10914 0.0035 -0.022648 -0.110151 0.0035 -0.022648 -0.11158 0.0035 -0.021637 -0.112591 0.0035 -0.020207 -0.112591 0.0035 -0.019196 -0.11158 0.0035"/><mesh name="crown_h34" vertex="-0.001475 -0.114012 -0.0055 -0.00416 -0.111327 -0.0055 -0.007957 -0.111327 -0.0055 -0.010642 -0.114012 -0.0055 -0.010642 -0.11781 -0.0055 -0.007957 -0.120495 -0.0055 -0.00416 -0.120495 -0.0055 -0.001475 -0.11781 -0.0055 -0.004333 -0.115196 0.0035 -0.005344 -0.114186 0.0035 -0.006773 -0.114186 0.0035 -0.007784 -0.115196 0.0035 -0.007784 -0.116626 0.0035 -0.006773 -0.117637 0.0035 -0.005344 -0.117637 0.0035 -0.004333 -0.116626 0.0035"/><mesh name="crown_h35" vertex="0.013921 -0.117075 -0.0055 0.011236 -0.11439 -0.0055 0.007438 -0.11439 -0.0055 0.004753 -0.117075 -0.0055 0.004753 -0.120872 -0.0055 0.007438 -0.123557 -0.0055 0.011236 -0.123557 -0.0055 0.013921 -0.120872 -0.0055 0.011062 -0.118259 0.0035 0.010052 -0.117248 0.0035 0.008622 -0.117248 0.0035 0.007611 -0.118259 0.0035 0.007611 -0.119688 0.0035 0.008622 -0.120699 0.0035 0.010052 -0.120699 0.0035 0.011062 -0.119688 0.0035"/><mesh name="crown_h36" vertex="0.029584 -0.118101 -0.0055 0.026899 -0.115416 -0.0055 0.023101 -0.115416 -0.0055 0.020416 -0.118101 -0.0055 0.020416 -0.121899 -0.0055 0.023101 -0.124584 -0.0055 0.026899 -0.124584 -0.0055 0.029584 -0.121899 -0.0055 0.026726 -0.119285 0.0035 0.025715 -0.118274 0.0035 0.024285 -0.118274 0.0035 0.023274 -0.119285 0.0035 0.023274 -0.120715 0.0035 0.024285 -0.121726 0.0035 0.025715 -0.121726 0.0035 0.026726 -0.120715 0.0035"/><mesh name="crown_h37" vertex="0.045247 -0.117075 -0.0055 0.042562 -0.11439 -0.0055 0.038764 -0.11439 -0.0055 0.036079 -0.117075 -0.0055 0.036079 -0.120872 -0.0055 0.038764 -0.123557 -0.0055 0.042562 -0.123557 -0.0055 0.045247 -0.120872 -0.0055 0.042389 -0.118259 0.0035 0.041378 -0.117248 0.0035 0.039948 -0.117248 0.0035 0.038938 -0.118259 0.0035 0.038938 -0.119688 0.0035 0.039948 -0.120699 0.0035 0.041378 -0.120699 0.0035 0.042389 -0.119688 0.0035"/><mesh name="crown_h38" vertex="0.060642 -0.114012 -0.0055 0.057957 -0.111327 -0.0055 0.05416 -0.111327 -0.0055 0.051475 -0.114012 -0.0055 0.051475 -0.11781 -0.0055 0.05416 -0.120495 -0.0055 0.057957 -0.120495 -0.0055 0.060642 -0.11781 -0.0055 0.057784 -0.115196 0.0035 0.056773 -0.114186 0.0035 0.055344 -0.114186 0.0035 0.054333 -0.115196 0.0035 0.054333 -0.116626 0.0035 0.055344 -0.117637 0.0035 0.056773 -0.117637 0.0035 0.057784 -0.116626 0.0035"/><mesh name="crown_h39" vertex="0.075506 -0.108967 -0.0055 0.072821 -0.106282 -0.0055 0.069023 -0.106282 -0.0055 0.066338 -0.108967 -0.0055 0.066338 -0.112764 -0.0055 0.069023 -0.115449 -0.0055 0.072821 -0.115449 -0.0055 0.075506 -0.112764 -0.0055 0.072648 -0.110151 0.0035 0.071637 -0.10914 0.0035 0.070207 -0.10914 0.0035 0.069196 -0.110151 0.0035 0.069196 -0.11158 0.0035 0.070207 -0.112591 0.0035 0.071637 -0.112591 0.0035 0.072648 -0.11158 0.0035"/><mesh name="crown_h40" vertex="0.089584 -0.102024 -0.0055 0.086899 -0.099339 -0.0055 0.083101 -0.099339 -0.0055 0.080416 -0.102024 -0.0055 0.080416 -0.105822 -0.0055 0.083101 -0.108507 -0.0055 0.086899 -0.108507 -0.0055 0.089584 -0.105822 -0.0055 0.086726 -0.103208 0.0035 0.085715 -0.102198 0.0035 0.084285 -0.102198 0.0035 0.083274 -0.103208 0.0035 0.083274 -0.104638 0.0035 0.084285 -0.105649 0.0035 0.085715 -0.105649 0.0035 0.086726 -0.104638 0.0035"/><mesh name="crown_h41" vertex="0.102635 -0.093304 -0.0055 0.09995 -0.090619 -0.0055 0.096153 -0.090619 -0.0055 0.093468 -0.093304 -0.0055 0.093468 -0.097101 -0.0055 0.096153 -0.099786 -0.0055 0.09995 -0.099786 -0.0055 0.102635 -0.097101 -0.0055 0.099777 -0.094488 0.0035 0.098766 -0.093477 0.0035 0.097337 -0.093477 0.0035 0.096326 -0.094488 0.0035 0.096326 -0.095917 0.0035 0.097337 -0.096928 0.0035 0.098766 -0.096928 0.0035 0.099777 -0.095917 0.0035"/><mesh name="crown_h42" vertex="0.114437 -0.082954 -0.0055 0.111751 -0.080269 -0.0055 0.107954 -0.080269 -0.0055 0.105269 -0.082954 -0.0055 0.105269 -0.086751 -0.0055 0.107954 -0.089437 -0.0055 0.111751 -0.089437 -0.0055 0.114437 -0.086751 -0.0055 0.111578 -0.084138 0.0035 0.110568 -0.083127 0.0035 0.109138 -0.083127 0.0035 0.108127 -0.084138 0.0035 0.108127 -0.085568 0.0035 0.109138 -0.086578 0.0035 0.110568 -0.086578 0.0035 0.111578 -0.085568 0.0035"/><mesh name="crown_h43" vertex="0.124786 -0.071153 -0.0055 0.122101 -0.068468 -0.0055 0.118304 -0.068468 -0.0055 0.115619 -0.071153 -0.0055 0.115619 -0.07495 -0.0055 0.118304 -0.077635 -0.0055 0.122101 -0.077635 -0.0055 0.124786 -0.07495 -0.0055 0.121928 -0.072337 0.0035 0.120917 -0.071326 0.0035 0.119488 -0.071326 0.0035 0.118477 -0.072337 0.0035 0.118477 -0.073766 0.0035 0.119488 -0.074777 0.0035 0.120917 -0.074777 0.0035 0.121928 -0.073766 0.0035"/><mesh name="crown_h44" vertex="0.133507 -0.058101 -0.0055 0.130822 -0.055416 -0.0055 0.127024 -0.055416 -0.0055 0.124339 -0.058101 -0.0055 0.124339 -0.061899 -0.0055 0.127024 -0.064584 -0.0055 0.130822 -0.064584 -0.0055 0.133507 -0.061899 -0.0055 0.130649 -0.059285 0.0035 0.129638 -0.058274 0.0035 0.128208 -0.058274 0.0035 0.127198 -0.059285 0.0035 0.127198 -0.060715 0.0035 0.128208 -0.061726 0.0035 0.129638 -0.061726 0.0035 0.130649 -0.060715 0.0035"/><mesh name="crown_h45" vertex="0.140449 -0.044023 -0.0055 0.137764 -0.041338 -0.0055 0.133967 -0.041338 -0.0055 0.131282 -0.044023 -0.0055 0.131282 -0.047821 -0.0055 0.133967 -0.050506 -0.0055 0.137764 -0.050506 -0.0055 0.140449 -0.047821 -0.0055 0.137591 -0.045207 0.0035 0.13658 -0.044196 0.0035 0.135151 -0.044196 0.0035 0.13414 -0.045207 0.0035 0.13414 -0.046637 0.0035 0.135151 -0.047648 0.0035 0.13658 -0.047648 0.0035 0.137591 -0.046637 0.0035"/><mesh name="crown_h46" vertex="0.145495 -0.02916 -0.0055 0.14281 -0.026475 -0.0055 0.139012 -0.026475 -0.0055 0.136327 -0.02916 -0.0055 0.136327 -0.032957 -0.0055 0.139012 -0.035642 -0.0055 0.14281 -0.035642 -0.0055 0.145495 -0.032957 -0.0055 0.142637 -0.030344 0.0035 0.141626 -0.029333 0.0035 0.140196 -0.029333 0.0035 0.139186 -0.030344 0.0035 0.139186 -0.031773 0.0035 0.140196 -0.032784 0.0035 0.141626 -0.032784 0.0035 0.142637 -0.031773 0.0035"/><mesh name="crown_h47" vertex="0.148557 -0.013764 -0.0055 0.145872 -0.011079 -0.0055 0.142075 -0.011079 -0.0055 0.13939 -0.013764 -0.0055 0.13939 -0.017562 -0.0055 0.142075 -0.020247 -0.0055 0.145872 -0.020247 -0.0055 0.148557 -0.017562 -0.0055 0.145699 -0.014948 0.0035 0.144688 -0.013938 0.0035 0.143259 -0.013938 0.0035 0.142248 -0.014948 0.0035 0.142248 -0.016378 0.0035 0.143259 -0.017389 0.0035 0.144688 -0.017389 0.0035 0.145699 -0.016378 0.0035"/><mesh name="pinion_h0" vertex="0.0845 0.001307 -0.020079 0.0845 0.010744 -0.017012 0.0845 0.010583 -0.026528 0.0845 0.007031 -0.027682 0.1555 0.001307 -0.020079 0.1555 0.010744 -0.017012 0.1555 0.010583 -0.026528 0.1555 0.007031 -0.027682"/><mesh name="pinion_h1" vertex="0.0845 0.01286 -0.015476 0.0845 0.018692 -0.007448 0.0845 0.024155 -0.015241 0.0845 0.021959 -0.018263 0.1555 0.01286 -0.015476 0.1555 0.018692 -0.007448 0.1555 0.024155 -0.015241 0.1555 0.021959 -0.018263"/><mesh name="pinion_h2" vertex="0.0845 0.0195 -0.004961 0.0845 0.0195 0.004961 0.0845 0.0285 0.001868 0.0845 0.0285 -0.001868 0.1555 0.0195 -0.004961 0.1555 0.0195 0.004961 0.1555 0.0285 0.001868 0.1555 0.0285 -0.001868"/><mesh name="pinion_h3" vertex="0.0845 0.018692 0.007448 0.0845 0.01286 0.015476 0.0845 0.021959 0.018263 0.0845 0.024155 0.015241 0.1555 0.018692 0.007448 0.1555 0.01286 0.015476 0.1555 0.021959 0.018263 0.1555 0.024155 0.015241"/><mesh name="pinion_h4" vertex="0.0845 0.010744 0.017012 0.0845 0.001307 0.020079 0.0845 0.007031 0.027682 0.0845 0.010583 0.026528 0.1555 0.010744 0.017012 0.1555 0.001307 0.020079 0.1555 0.007031 0.027682 0.1555 0.010583 0.026528"/><mesh name="pinion_h5" vertex="0.0845 -0.001307 0.020079 0.0845 -0.010744 0.017012 0.0845 -0.010583 0.026528 0.0845 -0.007031 0.027682 0.1555 -0.001307 0.020079 0.1555 -0.010744 0.017012 0.1555 -0.010583 0.026528 0.1555 -0.007031 0.027682"/><mesh name="pinion_h6" vertex="0.0845 -0.01286 0.015476 0.0845 -0.018692 0.007448 0.0845 -0.024155 0.015241 0.0845 -0.021959 0.018263 0.1555 -0.01286 0.015476 0.1555 -0.018692 0.007448 0.1555 -0.024155 0.015241 0.1555 -0.021959 0.018263"/><mesh name="pinion_h7" vertex="0.0845 -0.0195 0.004961 0.0845 -0.0195 -0.004961 0.0845 -0.0285 -0.001868 0.0845 -0.0285 0.001868 0.1555 -0.0195 0.004961 0.1555 -0.0195 -0.004961 0.1555 -0.0285 -0.001868 0.1555 -0.0285 0.001868"/><mesh name="pinion_h8" vertex="0.0845 -0.018692 -0.007448 0.0845 -0.01286 -0.015476 0.0845 -0.021959 -0.018263 0.0845 -0.024155 -0.015241 0.1555 -0.018692 -0.007448 0.1555 -0.01286 -0.015476 0.1555 -0.021959 -0.018263 0.1555 -0.024155 -0.015241"/><mesh name="pinion_h9" vertex="0.0845 -0.010744 -0.017012 0.0845 -0.001307 -0.020079 0.0845 -0.007031 -0.027682 0.0845 -0.010583 -0.026528 0.1555 -0.010744 -0.017012 0.1555 -0.001307 -0.020079 0.1555 -0.007031 -0.027682 0.1555 -0.010583 -0.026528"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crown" pos="0 0 0"><joint name="j_crown" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0.02319679522 0 -0.01444204334" mass="1.932408867" fullinertia="0.008986900975 0.009502574014 0.0172357377 0 -0.0001707012744 0"/><geom name="crown_h0" type="mesh" mesh="crown_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="crown_h1" type="mesh" mesh="crown_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="crown_h2" type="mesh" mesh="crown_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="crown_h3" type="mesh" mesh="crown_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="crown_h4" type="mesh" mesh="crown_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="crown_h5" type="mesh" mesh="crown_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="crown_h6" type="mesh" mesh="crown_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="crown_h7" type="mesh" mesh="crown_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="crown_h8" type="mesh" mesh="crown_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="crown_h9" type="mesh" mesh="crown_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="crown_h10" type="mesh" mesh="crown_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="crown_h11" type="mesh" mesh="crown_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="crown_h12" type="mesh" mesh="crown_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="crown_h13" type="mesh" mesh="crown_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="crown_h14" type="mesh" mesh="crown_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="crown_h15" type="mesh" mesh="crown_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="crown_h16" type="mesh" mesh="crown_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="crown_h17" type="mesh" mesh="crown_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="crown_h18" type="mesh" mesh="crown_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="crown_h19" type="mesh" mesh="crown_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="crown_h20" type="mesh" mesh="crown_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="crown_h21" type="mesh" mesh="crown_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="crown_h22" type="mesh" mesh="crown_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="crown_h23" type="mesh" mesh="crown_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="crown_h24" type="mesh" mesh="crown_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="crown_h25" type="mesh" mesh="crown_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="crown_h26" type="mesh" mesh="crown_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="crown_h27" type="mesh" mesh="crown_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="crown_h28" type="mesh" mesh="crown_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="crown_h29" type="mesh" mesh="crown_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="crown_h30" type="mesh" mesh="crown_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="crown_h31" type="mesh" mesh="crown_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="crown_h32" type="mesh" mesh="crown_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="crown_h33" type="mesh" mesh="crown_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="crown_h34" type="mesh" mesh="crown_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="crown_h35" type="mesh" mesh="crown_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="crown_h36" type="mesh" mesh="crown_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="crown_h37" type="mesh" mesh="crown_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="crown_h38" type="mesh" mesh="crown_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="crown_h39" type="mesh" mesh="crown_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"/><geom name="crown_h40" type="mesh" mesh="crown_h40" 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="crown_h41" type="mesh" mesh="crown_h41" 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="crown_h42" type="mesh" mesh="crown_h42" 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="crown_h43" type="mesh" mesh="crown_h43" 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="crown_h44" type="mesh" mesh="crown_h44" 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="crown_h45" type="mesh" mesh="crown_h45" 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="crown_h46" type="mesh" mesh="crown_h46" 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="crown_h47" type="mesh" mesh="crown_h47" 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="pinion" pos="0 0 0.025"><joint name="j_pinion" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0.002"/><inertial pos="0.1215821537 0 0" mass="1.063097479" fullinertia="0.0003151123638 0.0007460827462 0.000746085606 0 0 0"/><geom name="pinion_h0" type="mesh" mesh="pinion_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_h1" type="mesh" mesh="pinion_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_h2" type="mesh" mesh="pinion_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_h3" type="mesh" mesh="pinion_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_h4" type="mesh" mesh="pinion_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_h5" type="mesh" mesh="pinion_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_h6" type="mesh" mesh="pinion_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_h7" type="mesh" mesh="pinion_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_h8" type="mesh" mesh="pinion_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_h9" type="mesh" mesh="pinion_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"/></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_crown" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
