<mujoco model="63-jumping-star-wheel">
<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="star_h0" vertex="0.026 -0.005 0 0.026 0.005 0 0.038637 -0.005 0.010353 0.038637 0.005 0.010353 0.022517 -0.005 0.013 0.022517 0.005 0.013 0 -0.005 0 0 0.005 0"/><mesh name="star_h1" vertex="0.022517 -0.005 0.013 0.022517 0.005 0.013 0.028284 -0.005 0.028284 0.028284 0.005 0.028284 0.013 -0.005 0.022517 0.013 0.005 0.022517 0 -0.005 0 0 0.005 0"/><mesh name="star_h2" vertex="0.013 -0.005 0.022517 0.013 0.005 0.022517 0.010353 -0.005 0.038637 0.010353 0.005 0.038637 0 -0.005 0.026 0 0.005 0.026 0 -0.005 0 0 0.005 0"/><mesh name="star_h3" vertex="0 -0.005 0.026 0 0.005 0.026 -0.010353 -0.005 0.038637 -0.010353 0.005 0.038637 -0.013 -0.005 0.022517 -0.013 0.005 0.022517 0 -0.005 0 0 0.005 0"/><mesh name="star_h4" vertex="-0.013 -0.005 0.022517 -0.013 0.005 0.022517 -0.028284 -0.005 0.028284 -0.028284 0.005 0.028284 -0.022517 -0.005 0.013 -0.022517 0.005 0.013 0 -0.005 0 0 0.005 0"/><mesh name="star_h5" vertex="-0.022517 -0.005 0.013 -0.022517 0.005 0.013 -0.038637 -0.005 0.010353 -0.038637 0.005 0.010353 -0.026 -0.005 0 -0.026 0.005 0 0 -0.005 0 0 0.005 0"/><mesh name="star_h6" vertex="-0.026 -0.005 0 -0.026 0.005 0 -0.038637 -0.005 -0.010353 -0.038637 0.005 -0.010353 -0.022517 -0.005 -0.013 -0.022517 0.005 -0.013 0 -0.005 0 0 0.005 0"/><mesh name="star_h7" vertex="-0.022517 -0.005 -0.013 -0.022517 0.005 -0.013 -0.028284 -0.005 -0.028284 -0.028284 0.005 -0.028284 -0.013 -0.005 -0.022517 -0.013 0.005 -0.022517 0 -0.005 0 0 0.005 0"/><mesh name="star_h8" vertex="-0.013 -0.005 -0.022517 -0.013 0.005 -0.022517 -0.010353 -0.005 -0.038637 -0.010353 0.005 -0.038637 0 -0.005 -0.026 0 0.005 -0.026 0 -0.005 0 0 0.005 0"/><mesh name="star_h9" vertex="0 -0.005 -0.026 0 0.005 -0.026 0.010353 -0.005 -0.038637 0.010353 0.005 -0.038637 0.013 -0.005 -0.022517 0.013 0.005 -0.022517 0 -0.005 0 0 0.005 0"/><mesh name="star_h10" vertex="0.013 -0.005 -0.022517 0.013 0.005 -0.022517 0.028284 -0.005 -0.028284 0.028284 0.005 -0.028284 0.022517 -0.005 -0.013 0.022517 0.005 -0.013 0 -0.005 0 0 0.005 0"/><mesh name="star_h11" vertex="0.022517 -0.005 -0.013 0.022517 0.005 -0.013 0.038637 -0.005 -0.010353 0.038637 0.005 -0.010353 0.026 -0.005 0 0.026 0.005 0 0 -0.005 0 0 0.005 0"/><mesh name="drop_h0" vertex="0 -0.004 -0.006 0 0.004 -0.006 0.157 -0.004 -0.003 0.157 0.004 -0.003 0.157 -0.004 0.003 0.157 0.004 0.003 0 -0.004 0.006 0 0.004 0.006"/></asset>
<size memory="64M"/>
<worldbody>
<geom name="frame_r0" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.005" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="frame_r1" type="capsule" fromto="-0.07 0.006 0.05 -0.07 0.024 0.05" size="0.004" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="frame_r2" type="capsule" fromto="0.075 0.01 0.04 0.075 0.046 0.04" size="0.005" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="star" pos="0 0 0"><joint name="j_star" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0.05"/><inertial pos="0 0 0" mass="0.2707654267" fullinertia="0.00007150369361 0.0001383566212 0.00007150369361 0 0 0"/><geom name="star_h0" type="mesh" mesh="star_h0" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h1" type="mesh" mesh="star_h1" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h2" type="mesh" mesh="star_h2" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h3" type="mesh" mesh="star_h3" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h4" type="mesh" mesh="star_h4" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h5" type="mesh" mesh="star_h5" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h6" type="mesh" mesh="star_h6" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h7" type="mesh" mesh="star_h7" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h8" type="mesh" mesh="star_h8" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h9" type="mesh" mesh="star_h9" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h10" type="mesh" mesh="star_h10" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="star_h11" type="mesh" mesh="star_h11" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="disk" pos="0.075 0 0.04"><joint name="j_disk" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0.02738024799 0" mass="0.6758809869" fullinertia="0.000318035412 0.0005854258558 0.0003180353005 0 -1.686312035e-10 0"/><geom name="disk_h0" type="capsule" fromto="0.020602 0.008 0.034287 0.020602 0.02 0.034287" size="0.004" 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="disk_h1" type="capsule" fromto="0.019392 0.008 -0.034985 0.019392 0.02 -0.034985" size="0.004" 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="disk_h2" type="capsule" fromto="-0.039994 0.008 0.000698 -0.039994 0.02 0.000698" size="0.004" 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="drop" pos="-0.07 0.014 0.05"><joint name="j_drop" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.3 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="4" springref="0.4"/><inertial pos="0.06080623432 -0.0003687442354 -0.0001843721177" mass="0.25" fullinertia="0.000005245576545 0.0006143032758 0.0006141146747 0.000004027956054 0.000002013978027 -3.517476965e-7"/><geom name="drop_h0" type="mesh" mesh="drop_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="drop_h1" type="capsule" fromto="0.157 -0.004 0 0.157 0.004 0" size="0.003" 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 name="pawl" pos="0.1045 -0.014 -0.004"><joint name="j_pawl" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.5 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.05" springref="0.15"/><inertial pos="0 0 -0.02343128599" mass="0.04" fullinertia="0.00000878375091 0.000008676908002 3.198237584e-7 0 9.7443421e-8 0"/><geom name="pawl_h0" type="capsule" fromto="0 -0.004 -0.046 0 0.004 -0.046" size="0.003" 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>
<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_disk" kv="40" forcerange="-30 30"/></actuator>
</mujoco>
