<mujoco model="76-revolution-counter-tappet">
<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="tappet_h0" vertex="-0.03 -0.005 -0.0025 -0.03 0.004 -0.0025 0.0455 -0.005 -0.0025 0.0455 0.004 -0.0025 0.0455 -0.005 0.0025 0.0455 0.004 0.0025 -0.03 -0.005 0.0025 -0.03 0.004 0.0025"/><mesh name="ratchet_a_h0" vertex="0.017433 0.007 0.007556 0.017433 0.015 0.007556 0.027526 0.007 0.011931 0.027526 0.015 0.011931 0.013214 0.007 0.013652 0.013214 0.015 0.013652"/><mesh name="ratchet_a_h1" vertex="0.013214 0.007 0.013652 0.013214 0.015 0.013652 0.020864 0.007 0.021556 0.020864 0.015 0.021556 0.006984 0.007 0.01767 0.006984 0.015 0.01767"/><mesh name="ratchet_a_h2" vertex="0.006984 0.007 0.01767 0.006984 0.015 0.01767 0.011027 0.007 0.0279 0.011027 0.015 0.0279 -0.00031 0.007 0.018997 -0.00031 0.015 0.018997"/><mesh name="ratchet_a_h3" vertex="-0.00031 0.007 0.018997 -0.00031 0.015 0.018997 -0.000489 0.007 0.029996 -0.000489 0.015 0.029996 -0.007556 0.007 0.017432 -0.007556 0.015 0.017432"/><mesh name="ratchet_a_h4" vertex="-0.007556 0.007 0.017432 -0.007556 0.015 0.017432 -0.011931 0.007 0.027525 -0.011931 0.015 0.027525 -0.013652 0.007 0.013214 -0.013652 0.015 0.013214"/><mesh name="ratchet_a_h5" vertex="-0.013652 0.007 0.013214 -0.013652 0.015 0.013214 -0.021556 0.007 0.020864 -0.021556 0.015 0.020864 -0.01767 0.007 0.006983 -0.01767 0.015 0.006983"/><mesh name="ratchet_a_h6" vertex="-0.01767 0.007 0.006983 -0.01767 0.015 0.006983 -0.0279 0.007 0.011026 -0.0279 0.015 0.011026 -0.018997 0.007 -0.00031 -0.018997 0.015 -0.00031"/><mesh name="ratchet_a_h7" vertex="-0.018997 0.007 -0.00031 -0.018997 0.015 -0.00031 -0.029996 0.007 -0.00049 -0.029996 0.015 -0.00049 -0.017433 0.007 -0.007557 -0.017433 0.015 -0.007557"/><mesh name="ratchet_a_h8" vertex="-0.017433 0.007 -0.007557 -0.017433 0.015 -0.007557 -0.027525 0.007 -0.011931 -0.027525 0.015 -0.011931 -0.013214 0.007 -0.013653 -0.013214 0.015 -0.013653"/><mesh name="ratchet_a_h9" vertex="-0.013214 0.007 -0.013653 -0.013214 0.015 -0.013653 -0.020864 0.007 -0.021557 -0.020864 0.015 -0.021557 -0.006983 0.007 -0.01767 -0.006983 0.015 -0.01767"/><mesh name="ratchet_a_h10" vertex="-0.006983 0.007 -0.01767 -0.006983 0.015 -0.01767 -0.011027 0.007 -0.0279 -0.011027 0.015 -0.0279 0.00031 0.007 -0.018998 0.00031 0.015 -0.018998"/><mesh name="ratchet_a_h11" vertex="0.00031 0.007 -0.018998 0.00031 0.015 -0.018998 0.00049 0.007 -0.029996 0.00049 0.015 -0.029996 0.007557 0.007 -0.017433 0.007557 0.015 -0.017433"/><mesh name="ratchet_a_h12" vertex="0.007557 0.007 -0.017433 0.007557 0.015 -0.017433 0.011931 0.007 -0.027526 0.011931 0.015 -0.027526 0.013653 0.007 -0.013214 0.013653 0.015 -0.013214"/><mesh name="ratchet_a_h13" vertex="0.013653 0.007 -0.013214 0.013653 0.015 -0.013214 0.021557 0.007 -0.020865 0.021557 0.015 -0.020865 0.01767 0.007 -0.006984 0.01767 0.015 -0.006984"/><mesh name="ratchet_a_h14" vertex="0.01767 0.007 -0.006984 0.01767 0.015 -0.006984 0.0279 0.007 -0.011027 0.0279 0.015 -0.011027 0.018998 0.007 0.00031 0.018998 0.015 0.00031"/><mesh name="ratchet_a_h15" vertex="0.018998 0.007 0.00031 0.018998 0.015 0.00031 0.029996 0.007 0.000489 0.029996 0.015 0.000489 0.017433 0.007 0.007556 0.017433 0.015 0.007556"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.0377895044 0.01744408015 0.0007053831309" mass="0.4211213713" fullinertia="0.0007610634935 0.001333381795 0.0006312557336 -0.00007269800792 0.00001200609694 0.000005330323305"/><geom name="wheel_h0" type="capsule" fromto="-0.002628 -0.006 0.089962 -0.002628 0.005 0.089962" size="0.0035" 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="tappet" pos="0.12 0 0"><joint name="j_t" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0" range="0 0.8" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01400766171 -0.0005 0" mass="0.04282044552" fullinertia="5.110857442e-7 0.00002056375952 0.00002063074979 0 0 0"/><geom name="tappet_h0" type="mesh" mesh="tappet_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"/><body name="finger" pos="0.0455 0 0.00462"><joint name="j_f" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-1.2 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.004278335974 0.009656130054 0.001484996615" mass="0.001230809973" fullinertia="1.202863487e-8 3.663318247e-8 3.984648917e-8 7.076575337e-9 1.097808515e-8 -2.456256472e-9"/><geom name="finger_h0" type="capsule" fromto="0 0.011 0 -0.0155 0.011 0.00538" size="0.0013" 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="ratchet_a" pos="0.123911 0 0.001304"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.003"/><inertial pos="5.383379029e-8 0.011 -7.582094651e-8" mass="0.1183404805" fullinertia="0.00001862758481 0.00003599290397 0.00001862761761 0 2.143378918e-11 0"/><geom name="ratchet_a_h0" type="mesh" mesh="ratchet_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="ratchet_a_h1" type="mesh" mesh="ratchet_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="ratchet_a_h2" type="mesh" mesh="ratchet_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="ratchet_a_h3" type="mesh" mesh="ratchet_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="ratchet_a_h4" type="mesh" mesh="ratchet_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="ratchet_a_h5" type="mesh" mesh="ratchet_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="ratchet_a_h6" type="mesh" mesh="ratchet_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="ratchet_a_h7" type="mesh" mesh="ratchet_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="ratchet_a_h8" type="mesh" mesh="ratchet_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="ratchet_a_h9" type="mesh" mesh="ratchet_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="ratchet_a_h10" type="mesh" mesh="ratchet_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="ratchet_a_h11" type="mesh" mesh="ratchet_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="ratchet_a_h12" type="mesh" mesh="ratchet_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="ratchet_a_h13" type="mesh" mesh="ratchet_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="ratchet_a_h14" type="mesh" mesh="ratchet_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="ratchet_a_h15" type="mesh" mesh="ratchet_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"/></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_w" kv="10" forcerange="-20 20"/></actuator>
</mujoco>
