<mujoco model="79-rod-radial-arms-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"/>
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<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="0.5260015376" fullinertia="0.000294849847 0.0005809332471 0.0002948500923 0 -3.222308549e-10 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"/><geom name="wheel_a_h24" type="mesh" mesh="wheel_a_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_a_h25" type="mesh" mesh="wheel_a_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_a_h26" type="mesh" mesh="wheel_a_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_a_h27" type="mesh" mesh="wheel_a_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_a_h28" type="mesh" mesh="wheel_a_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_a_h29" type="mesh" mesh="wheel_a_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>
<body name="arm_1" pos="0 0 0"><joint name="j_c1" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.02297379266 -0.00882173889 0.02134393228" mass="0.04164323785" fullinertia="0.00001651101944 0.00003469387713 0.00001856635067 -1.44386082e-7 -0.0000165852714 -2.168742518e-7"/><body name="pawl_1" pos="0.042424 0 0.050559"><joint name="j_p1" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.000644 0 -0.0134045" mass="0.001479817799" fullinertia="8.946584105e-8 8.966850205e-8 1.867456026e-9 0 -4.218275478e-9 0"/><geom name="pawl_1_h0" type="capsule" fromto="0 0 0 -0.001288 0 -0.026809" 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 name="link_1" pos="0.053506 0 0.048177"><joint name="j_l1" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.03264984078 -0.022 -0.02056333019" mass="0.02034466147" fullinertia="0.000004916359037 0.00001708456281 0.00001225414761 0 0.000007659838876 0"/></body>
</body>
<body name="arm_2" pos="0 0 0"><joint name="j_c2" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.02409539826 -0.01655399969 -0.02086159923" mass="0.04227834082" fullinertia="0.00001546422891 0.00003546541296 0.00002078885895 -5.773867596e-7 0.00001675329137 3.025545361e-7"/><body name="pawl_2" pos="0.054716 0 -0.036907"><joint name="j_p2" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.013398 0 -0.0007605" mass="0.001479774281" fullinertia="1.947353692e-9 8.966064057e-8 8.937803295e-8 0 -4.978799423e-9 0"/><geom name="pawl_2_h0" type="capsule" fromto="0 0 0 -0.026796 0 -0.001521" 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 name="link_2" pos="0.053506 0 -0.048177"><joint name="j_l2" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.03264984078 -0.03 0.02056333019" mass="0.02034466147" fullinertia="0.000004916359037 0.00001708456281 0.00001225414761 0 -0.000007659838876 0"/></body>
</body>
<body name="rod_b" pos="0.13 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.007840680237 -0.026 0" mass="0.02487051877" fullinertia="4.919725145e-7 0.000003127750032 0.000003295688796 0 0 0"/></body>
<body name="crank" pos="0.233815 0 0"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.01303688938 0.0002530426717" mass="0.0643011187" fullinertia="0.00000719788908 0.00001376890392 0.000006978785473 0 0 3.194162941e-8"/><body name="conrod" pos="0 0 0.013719"><joint name="j_cr" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="-0.0394075 -0.021 -0.0068595" mass="0.01225222589" fullinertia="2.298921522e-7 0.00000655368008 0.000006362076134 0 -0.000001100755523 0"/></body>
</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><connect name="pin_b1" body1="link_1" body2="rod_b" anchor="0.076494 -0.022 -0.048177" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b2" body1="link_2" body2="rod_b" anchor="0.076494 -0.03 0.048177" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_r" body1="conrod" body2="rod_b" anchor="-0.078815 -0.021 -0.013719" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_1" body2="rod_b"/><exclude body1="link_2" body2="rod_b"/><exclude body1="conrod" body2="rod_b"/></contact>
<actuator><velocity name="drive" joint="j_k" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
