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<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
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name="plate_h286" type="mesh" mesh="plate_h286" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="plate_h287" type="mesh" mesh="plate_h287" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="plate_h288" type="mesh" mesh="plate_h288" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="plate_h289" type="mesh" mesh="plate_h289" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="shaft" pos="0 -0.014 0"><joint name="j_sh" type="hinge" axis="0 0 1" damping="0.001" frictionloss="0"/><inertial pos="0 -0.00006671892389 0.1428960458" mass="0.3" fullinertia="0.001625153926 0.001625087017 0.00009000185657 0 0 -0.000002860161121"/><body name="pinion" pos="0 0 -0.044"><joint name="j_B" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 0 -0.0008626265551" mass="0.03" fullinertia="0.000001462781615 0.000001462781615 0.000001977257045 0 0 0"/><geom name="pinion_h0" type="mesh" mesh="pinion_h0" contype="8" conaffinity="16" condim="3" friction="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 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="0.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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_sh" kv="2" forcerange="-6 6"/></actuator>
</mujoco>
