<mujoco model="77-lever-two-pawls">
<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_b_h0" vertex="0.005482 -0.005 0.041641 0.005482 0.009 0.041641 0.006526 -0.005 0.049572 0.006526 0.009 0.049572 -0.003295 -0.005 0.041871 -0.003295 0.009 0.041871"/><mesh name="wheel_b_h1" vertex="-0.003295 -0.005 0.041871 -0.003295 0.009 0.041871 -0.003923 -0.005 0.049846 -0.003923 0.009 0.049846 -0.011929 -0.005 0.04027 -0.011929 0.009 0.04027"/><mesh name="wheel_b_h2" vertex="-0.011929 -0.005 0.04027 -0.011929 0.009 0.04027 -0.014201 -0.005 0.047941 -0.014201 0.009 0.047941 -0.020041 -0.005 0.03691 -0.020041 0.009 0.03691"/><mesh name="wheel_b_h3" vertex="-0.020041 -0.005 0.03691 -0.020041 0.009 0.03691 -0.023858 -0.005 0.043941 -0.023858 0.009 0.043941 -0.027277 -0.005 0.031937 -0.027277 0.009 0.031937"/><mesh name="wheel_b_h4" vertex="-0.027277 -0.005 0.031937 -0.027277 0.009 0.031937 -0.032472 -0.005 0.03802 -0.032472 0.009 0.03802 -0.033321 -0.005 0.025568 -0.033321 0.009 0.025568"/><mesh name="wheel_b_h5" vertex="-0.033321 -0.005 0.025568 -0.033321 0.009 0.025568 -0.039668 -0.005 0.030438 -0.039668 0.009 0.030438 -0.037909 -0.005 0.018081 -0.037909 0.009 0.018081"/><mesh name="wheel_b_h6" vertex="-0.037909 -0.005 0.018081 -0.037909 0.009 0.018081 -0.045129 -0.005 0.021526 -0.045129 0.009 0.021526 -0.04084 -0.005 0.009805 -0.04084 0.009 0.009805"/><mesh name="wheel_b_h7" vertex="-0.04084 -0.005 0.009805 -0.04084 0.009 0.009805 -0.048618 -0.005 0.011672 -0.048618 0.009 0.011672 -0.041986 -0.005 0.001099 -0.041986 0.009 0.001099"/><mesh name="wheel_b_h8" vertex="-0.041986 -0.005 0.001099 -0.041986 0.009 0.001099 -0.049983 -0.005 0.001309 -0.049983 0.009 0.001309 -0.041297 -0.005 -0.007654 -0.041297 0.009 -0.007654"/><mesh name="wheel_b_h9" vertex="-0.041297 -0.005 -0.007654 -0.041297 0.009 -0.007654 -0.049163 -0.005 -0.009112 -0.049163 0.009 -0.009112 -0.038803 -0.005 -0.016073 -0.038803 0.009 -0.016073"/><mesh name="wheel_b_h10" vertex="-0.038803 -0.005 -0.016073 -0.038803 0.009 -0.016073 -0.046194 -0.005 -0.019134 -0.046194 0.009 -0.019134 -0.034613 -0.005 -0.023789 -0.034613 0.009 -0.023789"/><mesh name="wheel_b_h11" vertex="-0.034613 -0.005 -0.023789 -0.034613 0.009 -0.023789 -0.041206 -0.005 -0.02832 -0.041206 0.009 -0.02832 -0.028911 -0.005 -0.030466 -0.028911 0.009 -0.030466"/><mesh name="wheel_b_h12" vertex="-0.028911 -0.005 -0.030466 -0.028911 0.009 -0.030466 -0.034418 -0.005 -0.036269 -0.034418 0.009 -0.036269 -0.021945 -0.005 -0.035811 -0.021945 0.009 -0.035811"/><mesh name="wheel_b_h13" vertex="-0.021945 -0.005 -0.035811 -0.021945 0.009 -0.035811 -0.026125 -0.005 -0.042632 -0.026125 0.009 -0.042632 -0.01402 -0.005 -0.039591 -0.01402 0.009 -0.039591"/><mesh name="wheel_b_h14" vertex="-0.01402 -0.005 -0.039591 -0.01402 0.009 -0.039591 -0.01669 -0.005 -0.047132 -0.01669 0.009 -0.047132 -0.005482 -0.005 -0.041641 -0.005482 0.009 -0.041641"/><mesh name="wheel_b_h15" vertex="-0.005482 -0.005 -0.041641 -0.005482 0.009 -0.041641 -0.006526 -0.005 -0.049572 -0.006526 0.009 -0.049572 0.003295 -0.005 -0.041871 0.003295 0.009 -0.041871"/><mesh name="wheel_b_h16" vertex="0.003295 -0.005 -0.041871 0.003295 0.009 -0.041871 0.003923 -0.005 -0.049846 0.003923 0.009 -0.049846 0.011929 -0.005 -0.04027 0.011929 0.009 -0.04027"/><mesh name="wheel_b_h17" vertex="0.011929 -0.005 -0.04027 0.011929 0.009 -0.04027 0.014201 -0.005 -0.047941 0.014201 0.009 -0.047941 0.020041 -0.005 -0.03691 0.020041 0.009 -0.03691"/><mesh name="wheel_b_h18" vertex="0.020041 -0.005 -0.03691 0.020041 0.009 -0.03691 0.023858 -0.005 -0.043941 0.023858 0.009 -0.043941 0.027277 -0.005 -0.031937 0.027277 0.009 -0.031937"/><mesh name="wheel_b_h19" vertex="0.027277 -0.005 -0.031937 0.027277 0.009 -0.031937 0.032472 -0.005 -0.03802 0.032472 0.009 -0.03802 0.033321 -0.005 -0.025568 0.033321 0.009 -0.025568"/><mesh name="wheel_b_h20" vertex="0.033321 -0.005 -0.025568 0.033321 0.009 -0.025568 0.039668 -0.005 -0.030438 0.039668 0.009 -0.030438 0.037909 -0.005 -0.018081 0.037909 0.009 -0.018081"/><mesh name="wheel_b_h21" vertex="0.037909 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0.02832 0.028911 -0.005 0.030466 0.028911 0.009 0.030466"/><mesh name="wheel_b_h27" vertex="0.028911 -0.005 0.030466 0.028911 0.009 0.030466 0.034418 -0.005 0.036269 0.034418 0.009 0.036269 0.021945 -0.005 0.035811 0.021945 0.009 0.035811"/><mesh name="wheel_b_h28" vertex="0.021945 -0.005 0.035811 0.021945 0.009 0.035811 0.026125 -0.005 0.042632 0.026125 0.009 0.042632 0.01402 -0.005 0.039591 0.01402 0.009 0.039591"/><mesh name="wheel_b_h29" vertex="0.01402 -0.005 0.039591 0.01402 0.009 0.039591 0.01669 -0.005 0.047132 0.01669 0.009 0.047132 0.005482 -0.005 0.041641 0.005482 0.009 0.041641"/><mesh name="lever_c_h0" vertex="-0.0067 -0.016 -0.112 -0.0067 -0.002 -0.112 -0.0027 -0.016 -0.112 -0.0027 -0.002 -0.112 -0.0027 -0.016 -0.048 -0.0027 -0.002 -0.048 -0.0067 -0.016 -0.048 -0.0067 -0.002 -0.048"/><mesh name="lever_c_h1" vertex="0.0027 -0.016 -0.112 0.0027 -0.002 -0.112 0.0067 -0.016 -0.112 0.0067 -0.002 -0.112 0.0067 -0.016 -0.048 0.0067 -0.002 -0.048 0.0027 -0.016 -0.048 0.0027 -0.002 -0.048"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 0.002 0" mass="0.7363966251" fullinertia="0.0004186769056 0.0008132966361 0.0004186753537 0 -9.774167042e-12 0"/><geom name="wheel_b_h0" type="mesh" mesh="wheel_b_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_b_h1" type="mesh" mesh="wheel_b_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_b_h2" type="mesh" mesh="wheel_b_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_b_h3" type="mesh" mesh="wheel_b_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_b_h4" type="mesh" mesh="wheel_b_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_b_h5" type="mesh" mesh="wheel_b_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_b_h6" type="mesh" mesh="wheel_b_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_b_h7" type="mesh" mesh="wheel_b_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_b_h8" type="mesh" mesh="wheel_b_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_b_h9" type="mesh" mesh="wheel_b_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_b_h10" type="mesh" mesh="wheel_b_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_b_h11" type="mesh" mesh="wheel_b_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_b_h12" type="mesh" mesh="wheel_b_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_b_h13" type="mesh" mesh="wheel_b_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_b_h14" type="mesh" mesh="wheel_b_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_b_h15" type="mesh" mesh="wheel_b_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_b_h16" type="mesh" mesh="wheel_b_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_b_h17" type="mesh" mesh="wheel_b_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_b_h18" type="mesh" mesh="wheel_b_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" 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mass="0"/><geom name="wheel_b_h24" type="mesh" mesh="wheel_b_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="wheel_b_h25" type="mesh" mesh="wheel_b_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="wheel_b_h26" type="mesh" mesh="wheel_b_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="wheel_b_h27" type="mesh" mesh="wheel_b_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="wheel_b_h28" type="mesh" mesh="wheel_b_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="wheel_b_h29" type="mesh" mesh="wheel_b_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"/></body>
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<body name="pawl_2" pos="0 0 -0.02035673126"><joint name="j_p2" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.9 0.7" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.036719 -0.001 0.01264336563" mass="0.004282306706" fullinertia="2.327445522e-7 0.000002155180984 0.000001927254027 0 6.619479483e-7 0"/><geom name="pawl_2_h0" type="capsule" fromto="0 -0.001 0 -0.073438 -0.001 0.02528673126" 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="crank" pos="0.1 0 -0.045551"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.01557180919 0.0005627650705" mass="0.1690008772" fullinertia="0.00003916932984 0.00007147292846 0.000037035374 0 0 0.000001623662053"/><geom name="crank_h0" type="capsule" fromto="0 -0.015 0.023 0 0.012 0.023" 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>
