<mujoco model="75-rod-pawl-ratchet">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="wheel_a_h0" vertex="0.042 -0.005 0 0.042 0.005 0 0.05 -0.005 0 0.05 0.005 0 0.040569 -0.005 0.01087 0.040569 0.005 0.01087"/><mesh name="wheel_a_h1" vertex="0.040569 -0.005 0.01087 0.040569 0.005 0.01087 0.048296 -0.005 0.012941 0.048296 0.005 0.012941 0.036373 -0.005 0.021 0.036373 0.005 0.021"/><mesh name="wheel_a_h2" vertex="0.036373 -0.005 0.021 0.036373 0.005 0.021 0.043301 -0.005 0.025 0.043301 0.005 0.025 0.029698 -0.005 0.029698 0.029698 0.005 0.029698"/><mesh name="wheel_a_h3" vertex="0.029698 -0.005 0.029698 0.029698 0.005 0.029698 0.035355 -0.005 0.035355 0.035355 0.005 0.035355 0.021 -0.005 0.036373 0.021 0.005 0.036373"/><mesh name="wheel_a_h4" vertex="0.021 -0.005 0.036373 0.021 0.005 0.036373 0.025 -0.005 0.043301 0.025 0.005 0.043301 0.01087 -0.005 0.040569 0.01087 0.005 0.040569"/><mesh name="wheel_a_h5" vertex="0.01087 -0.005 0.040569 0.01087 0.005 0.040569 0.012941 -0.005 0.048296 0.012941 0.005 0.048296 0 -0.005 0.042 0 0.005 0.042"/><mesh name="wheel_a_h6" vertex="0 -0.005 0.042 0 0.005 0.042 0 -0.005 0.05 0 0.005 0.05 -0.01087 -0.005 0.040569 -0.01087 0.005 0.040569"/><mesh name="wheel_a_h7" vertex="-0.01087 -0.005 0.040569 -0.01087 0.005 0.040569 -0.012941 -0.005 0.048296 -0.012941 0.005 0.048296 -0.021 -0.005 0.036373 -0.021 0.005 0.036373"/><mesh name="wheel_a_h8" vertex="-0.021 -0.005 0.036373 -0.021 0.005 0.036373 -0.025 -0.005 0.043301 -0.025 0.005 0.043301 -0.029698 -0.005 0.029698 -0.029698 0.005 0.029698"/><mesh name="wheel_a_h9" vertex="-0.029698 -0.005 0.029698 -0.029698 0.005 0.029698 -0.035355 -0.005 0.035355 -0.035355 0.005 0.035355 -0.036373 -0.005 0.021 -0.036373 0.005 0.021"/><mesh name="wheel_a_h10" vertex="-0.036373 -0.005 0.021 -0.036373 0.005 0.021 -0.043301 -0.005 0.025 -0.043301 0.005 0.025 -0.040569 -0.005 0.01087 -0.040569 0.005 0.01087"/><mesh name="wheel_a_h11" vertex="-0.040569 -0.005 0.01087 -0.040569 0.005 0.01087 -0.048296 -0.005 0.012941 -0.048296 0.005 0.012941 -0.042 -0.005 0 -0.042 0.005 0"/><mesh name="wheel_a_h12" vertex="-0.042 -0.005 0 -0.042 0.005 0 -0.05 -0.005 0 -0.05 0.005 0 -0.040569 -0.005 -0.01087 -0.040569 0.005 -0.01087"/><mesh name="wheel_a_h13" vertex="-0.040569 -0.005 -0.01087 -0.040569 0.005 -0.01087 -0.048296 -0.005 -0.012941 -0.048296 0.005 -0.012941 -0.036373 -0.005 -0.021 -0.036373 0.005 -0.021"/><mesh name="wheel_a_h14" vertex="-0.036373 -0.005 -0.021 -0.036373 0.005 -0.021 -0.043301 -0.005 -0.025 -0.043301 0.005 -0.025 -0.029698 -0.005 -0.029698 -0.029698 0.005 -0.029698"/><mesh name="wheel_a_h15" vertex="-0.029698 -0.005 -0.029698 -0.029698 0.005 -0.029698 -0.035355 -0.005 -0.035355 -0.035355 0.005 -0.035355 -0.021 -0.005 -0.036373 -0.021 0.005 -0.036373"/><mesh name="wheel_a_h16" vertex="-0.021 -0.005 -0.036373 -0.021 0.005 -0.036373 -0.025 -0.005 -0.043301 -0.025 0.005 -0.043301 -0.01087 -0.005 -0.040569 -0.01087 0.005 -0.040569"/><mesh name="wheel_a_h17" vertex="-0.01087 -0.005 -0.040569 -0.01087 0.005 -0.040569 -0.012941 -0.005 -0.048296 -0.012941 0.005 -0.048296 0 -0.005 -0.042 0 0.005 -0.042"/><mesh name="wheel_a_h18" vertex="0 -0.005 -0.042 0 0.005 -0.042 0 -0.005 -0.05 0 0.005 -0.05 0.01087 -0.005 -0.040569 0.01087 0.005 -0.040569"/><mesh name="wheel_a_h19" vertex="0.01087 -0.005 -0.040569 0.01087 0.005 -0.040569 0.012941 -0.005 -0.048296 0.012941 0.005 -0.048296 0.021 -0.005 -0.036373 0.021 0.005 -0.036373"/><mesh name="wheel_a_h20" vertex="0.021 -0.005 -0.036373 0.021 0.005 -0.036373 0.025 -0.005 -0.043301 0.025 0.005 -0.043301 0.029698 -0.005 -0.029698 0.029698 0.005 -0.029698"/><mesh name="wheel_a_h21" vertex="0.029698 -0.005 -0.029698 0.029698 0.005 -0.029698 0.035355 -0.005 -0.035355 0.035355 0.005 -0.035355 0.036373 -0.005 -0.021 0.036373 0.005 -0.021"/><mesh name="wheel_a_h22" vertex="0.036373 -0.005 -0.021 0.036373 0.005 -0.021 0.043301 -0.005 -0.025 0.043301 0.005 -0.025 0.040569 -0.005 -0.01087 0.040569 0.005 -0.01087"/><mesh name="wheel_a_h23" vertex="0.040569 -0.005 -0.01087 0.040569 0.005 -0.01087 0.048296 -0.005 -0.012941 0.048296 0.005 -0.012941 0.042 -0.005 0 0.042 0.005 0"/><mesh name="bar_d_h0" vertex="0.073 -0.005 -0.0067 0.073 0.012 -0.0067 0.101 -0.005 -0.0067 0.101 0.012 -0.0067 0.101 -0.005 -0.0027 0.101 0.012 -0.0027 0.073 -0.005 -0.0027 0.073 0.012 -0.0027"/><mesh name="bar_d_h1" vertex="0.073 -0.005 0.0027 0.073 0.012 0.0027 0.101 -0.005 0.0027 0.101 0.012 0.0027 0.101 -0.005 0.0067 0.101 0.012 0.0067 0.073 -0.005 0.0067 0.073 0.012 0.0067"/><mesh name="rod_c_h1" vertex="-0.024 -0.012 -0.0973 -0.024 -0.003 -0.0973 0.024 -0.012 -0.0973 0.024 -0.003 -0.0973 0.024 -0.012 -0.0933 0.024 -0.003 -0.0933 -0.024 -0.012 -0.0933 -0.024 -0.003 -0.0933"/><mesh name="rod_c_h2" vertex="-0.024 -0.012 -0.1067 -0.024 -0.003 -0.1067 0.024 -0.012 -0.1067 0.024 -0.003 -0.1067 0.024 -0.012 -0.1027 0.024 -0.003 -0.1027 -0.024 -0.012 -0.1027 -0.024 -0.003 -0.1027"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 0 0" mass="0.5256612976" fullinertia="0.0002941886445 0.0005796162675 0.0002941886445 0 0 0"/><geom name="wheel_a_h0" type="mesh" mesh="wheel_a_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="wheel_a_h1" type="mesh" mesh="wheel_a_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="wheel_a_h2" type="mesh" mesh="wheel_a_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="wheel_a_h3" type="mesh" mesh="wheel_a_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="wheel_a_h4" type="mesh" mesh="wheel_a_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="wheel_a_h5" type="mesh" mesh="wheel_a_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="wheel_a_h6" type="mesh" mesh="wheel_a_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="wheel_a_h7" type="mesh" mesh="wheel_a_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="wheel_a_h8" type="mesh" mesh="wheel_a_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="wheel_a_h9" type="mesh" mesh="wheel_a_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="wheel_a_h10" type="mesh" mesh="wheel_a_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="wheel_a_h11" type="mesh" mesh="wheel_a_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="wheel_a_h12" type="mesh" mesh="wheel_a_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="wheel_a_h13" type="mesh" mesh="wheel_a_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="wheel_a_h14" type="mesh" mesh="wheel_a_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="wheel_a_h15" type="mesh" mesh="wheel_a_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="wheel_a_h16" type="mesh" mesh="wheel_a_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="wheel_a_h17" type="mesh" mesh="wheel_a_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="wheel_a_h18" type="mesh" mesh="wheel_a_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="wheel_a_h19" type="mesh" mesh="wheel_a_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="wheel_a_h20" type="mesh" mesh="wheel_a_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="wheel_a_h21" type="mesh" mesh="wheel_a_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="wheel_a_h22" type="mesh" mesh="wheel_a_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="wheel_a_h23" type="mesh" mesh="wheel_a_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"/></body>
<body name="bar_d" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0525737224 0.00669786054 -0.0002042231437" mass="0.07494239906" fullinertia="0.000002877379789 0.00008918311736 0.00008918154555 0.000005741150355 1.956630149e-7 -4.894316708e-8"/><geom name="bar_d_h0" type="mesh" mesh="bar_d_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="bar_d_h1" type="mesh" mesh="bar_d_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"/><body name="pawl_b" pos="0.065358 0 -0.009185"><joint name="j_bp" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.6 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.009448 0 0.0095305" mass="0.001479816886" fullinertia="4.604911195e-8 8.966833728e-8 4.528401933e-8 0 4.40001087e-8 0"/><geom name="pawl_b_h0" type="capsule" fromto="0 0 0 -0.018896 0 0.019061" size="0.0015" 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>
<body name="rod_c" pos="0.085 0 0"><joint name="j_c" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 -0.007858544474 -0.07573781118" mass="0.05872814104" fullinertia="0.0000727491684 0.00008265171417 0.00001075011828 0 0 9.520932834e-8"/><geom name="rod_c_h0" type="capsule" fromto="0 -0.006 0 0 0.005 0" size="0.0025" 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="rod_c_h1" type="mesh" mesh="rod_c_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="rod_c_h2" type="mesh" mesh="rod_c_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"/></body>
<body name="crank" pos="0.085 0 -0.1"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0001610836537 0.002894288852 0" mass="0.1673345765" fullinertia="0.0000295787339 0.00005642186581 0.00003000566975 2.801766524e-7 0 0"/><geom name="crank_h0" type="capsule" fromto="0.016 -0.013 0 0.016 -0.002 0" size="0.0025" contype="8" conaffinity="16" 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="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_k" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
