<mujoco model="78-lever-two-pulling-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_a_h0" vertex="-0.037909 -0.006 0.018081 -0.037909 0.006 0.018081 -0.048618 -0.006 0.011672 -0.048618 0.006 0.011672 -0.04084 -0.006 0.009805 -0.04084 0.006 0.009805"/><mesh name="wheel_a_h1" vertex="-0.04084 -0.006 0.009805 -0.04084 0.006 0.009805 -0.049983 -0.006 0.001309 -0.049983 0.006 0.001309 -0.041986 -0.006 0.001099 -0.041986 0.006 0.001099"/><mesh name="wheel_a_h2" vertex="-0.041986 -0.006 0.001099 -0.041986 0.006 0.001099 -0.049163 -0.006 -0.009112 -0.049163 0.006 -0.009112 -0.041297 -0.006 -0.007654 -0.041297 0.006 -0.007654"/><mesh name="wheel_a_h3" vertex="-0.041297 -0.006 -0.007654 -0.041297 0.006 -0.007654 -0.046194 -0.006 -0.019134 -0.046194 0.006 -0.019134 -0.038803 -0.006 -0.016073 -0.038803 0.006 -0.016073"/><mesh name="wheel_a_h4" vertex="-0.038803 -0.006 -0.016073 -0.038803 0.006 -0.016073 -0.041206 -0.006 -0.02832 -0.041206 0.006 -0.02832 -0.034613 -0.006 -0.023789 -0.034613 0.006 -0.023789"/><mesh name="wheel_a_h5" vertex="-0.034613 -0.006 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0.04084 0.006 -0.009805"/><mesh name="wheel_a_h16" vertex="0.04084 -0.006 -0.009805 0.04084 0.006 -0.009805 0.049983 -0.006 -0.001309 0.049983 0.006 -0.001309 0.041986 -0.006 -0.001099 0.041986 0.006 -0.001099"/><mesh name="wheel_a_h17" vertex="0.041986 -0.006 -0.001099 0.041986 0.006 -0.001099 0.049163 -0.006 0.009112 0.049163 0.006 0.009112 0.041297 -0.006 0.007654 0.041297 0.006 0.007654"/><mesh name="wheel_a_h18" vertex="0.041297 -0.006 0.007654 0.041297 0.006 0.007654 0.046194 -0.006 0.019134 0.046194 0.006 0.019134 0.038803 -0.006 0.016073 0.038803 0.006 0.016073"/><mesh name="wheel_a_h19" vertex="0.038803 -0.006 0.016073 0.038803 0.006 0.016073 0.041206 -0.006 0.02832 0.041206 0.006 0.02832 0.034613 -0.006 0.023789 0.034613 0.006 0.023789"/><mesh name="wheel_a_h20" vertex="0.034613 -0.006 0.023789 0.034613 0.006 0.023789 0.034418 -0.006 0.036269 0.034418 0.006 0.036269 0.028911 -0.006 0.030466 0.028911 0.006 0.030466"/><mesh name="wheel_a_h21" vertex="0.028911 -0.006 0.030466 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0.0067"/></asset>
<size memory="64M"/>
<worldbody>
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<body name="pawl_r" pos="0.042967 0 0"><joint name="j_pr" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.9 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.03968151607 -0.002 -0.01546676624" mass="0.004751343731" fullinertia="4.042528723e-7 0.000002776443442 0.000002377535832 0 -9.610595011e-7 0"/><geom name="pawl_r_h0" type="capsule" fromto="0 -0.002 0 -0.072642 -0.002 -0.027509" 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"/><geom name="pawl_r_h1" type="capsule" fromto="-0.072642 -0.002 -0.027509 -0.068138 -0.002 -0.034718" 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>
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<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>
