<mujoco model="80-lever-hooked-pawls-slotted-rack">
<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="rack_a_h0" vertex="-0.1102 -0.009 0 -0.1102 0.009 0 -0.1102 -0.009 0.0035 -0.1102 0.009 0.0035 -0.1042 -0.009 0 -0.1042 0.009 0"/><mesh name="rack_a_h1" vertex="-0.1042 -0.009 0 -0.1042 0.009 0 -0.1042 -0.009 0.0035 -0.1042 0.009 0.0035 -0.0982 -0.009 0 -0.0982 0.009 0"/><mesh name="rack_a_h2" vertex="-0.0982 -0.009 0 -0.0982 0.009 0 -0.0982 -0.009 0.0035 -0.0982 0.009 0.0035 -0.0922 -0.009 0 -0.0922 0.009 0"/><mesh name="rack_a_h3" vertex="-0.0922 -0.009 0 -0.0922 0.009 0 -0.0922 -0.009 0.0035 -0.0922 0.009 0.0035 -0.0862 -0.009 0 -0.0862 0.009 0"/><mesh name="rack_a_h4" vertex="-0.0862 -0.009 0 -0.0862 0.009 0 -0.0862 -0.009 0.0035 -0.0862 0.009 0.0035 -0.0802 -0.009 0 -0.0802 0.009 0"/><mesh name="rack_a_h5" vertex="-0.0802 -0.009 0 -0.0802 0.009 0 -0.0802 -0.009 0.0035 -0.0802 0.009 0.0035 -0.0742 -0.009 0 -0.0742 0.009 0"/><mesh name="rack_a_h6" vertex="-0.0742 -0.009 0 -0.0742 0.009 0 -0.0742 -0.009 0.0035 -0.0742 0.009 0.0035 -0.0682 -0.009 0 -0.0682 0.009 0"/><mesh name="rack_a_h7" vertex="-0.0682 -0.009 0 -0.0682 0.009 0 -0.0682 -0.009 0.0035 -0.0682 0.009 0.0035 -0.0622 -0.009 0 -0.0622 0.009 0"/><mesh name="rack_a_h8" vertex="-0.0622 -0.009 0 -0.0622 0.009 0 -0.0622 -0.009 0.0035 -0.0622 0.009 0.0035 -0.0562 -0.009 0 -0.0562 0.009 0"/><mesh name="rack_a_h9" vertex="-0.0562 -0.009 0 -0.0562 0.009 0 -0.0562 -0.009 0.0035 -0.0562 0.009 0.0035 -0.0502 -0.009 0 -0.0502 0.009 0"/><mesh name="rack_a_h10" vertex="-0.0502 -0.009 0 -0.0502 0.009 0 -0.0502 -0.009 0.0035 -0.0502 0.009 0.0035 -0.0442 -0.009 0 -0.0442 0.009 0"/><mesh name="rack_a_h11" vertex="-0.0442 -0.009 0 -0.0442 0.009 0 -0.0442 -0.009 0.0035 -0.0442 0.009 0.0035 -0.0382 -0.009 0 -0.0382 0.009 0"/><mesh name="rack_a_h12" vertex="-0.0382 -0.009 0 -0.0382 0.009 0 -0.0382 -0.009 0.0035 -0.0382 0.009 0.0035 -0.0322 -0.009 0 -0.0322 0.009 0"/><mesh name="rack_a_h13" vertex="-0.0322 -0.009 0 -0.0322 0.009 0 -0.0322 -0.009 0.0035 -0.0322 0.009 0.0035 -0.0262 -0.009 0 -0.0262 0.009 0"/><mesh name="rack_a_h14" vertex="-0.0262 -0.009 0 -0.0262 0.009 0 -0.0262 -0.009 0.0035 -0.0262 0.009 0.0035 -0.0202 -0.009 0 -0.0202 0.009 0"/><mesh name="rack_a_h15" vertex="-0.0202 -0.009 0 -0.0202 0.009 0 -0.0202 -0.009 0.0035 -0.0202 0.009 0.0035 -0.0142 -0.009 0 -0.0142 0.009 0"/><mesh name="rack_a_h16" vertex="-0.0142 -0.009 0 -0.0142 0.009 0 -0.0142 -0.009 0.0035 -0.0142 0.009 0.0035 -0.0082 -0.009 0 -0.0082 0.009 0"/><mesh name="rack_a_h17" vertex="-0.0082 -0.009 0 -0.0082 0.009 0 -0.0082 -0.009 0.0035 -0.0082 0.009 0.0035 -0.0022 -0.009 0 -0.0022 0.009 0"/><mesh name="rack_a_h18" vertex="-0.0022 -0.009 0 -0.0022 0.009 0 -0.0022 -0.009 0.0035 -0.0022 0.009 0.0035 0.0038 -0.009 0 0.0038 0.009 0"/><mesh name="rack_a_h19" vertex="0.0038 -0.009 0 0.0038 0.009 0 0.0038 -0.009 0.0035 0.0038 0.009 0.0035 0.0098 -0.009 0 0.0098 0.009 0"/><mesh name="rack_a_h20" vertex="0.0098 -0.009 0 0.0098 0.009 0 0.0098 -0.009 0.0035 0.0098 0.009 0.0035 0.0158 -0.009 0 0.0158 0.009 0"/><mesh name="rack_a_h21" vertex="0.0158 -0.009 0 0.0158 0.009 0 0.0158 -0.009 0.0035 0.0158 0.009 0.0035 0.0218 -0.009 0 0.0218 0.009 0"/><mesh name="rack_a_h22" vertex="0.0218 -0.009 0 0.0218 0.009 0 0.0218 -0.009 0.0035 0.0218 0.009 0.0035 0.0278 -0.009 0 0.0278 0.009 0"/><mesh name="rack_a_h23" vertex="0.0278 -0.009 0 0.0278 0.009 0 0.0278 -0.009 0.0035 0.0278 0.009 0.0035 0.0338 -0.009 0 0.0338 0.009 0"/><mesh name="rack_a_h24" vertex="0.0338 -0.009 0 0.0338 0.009 0 0.0338 -0.009 0.0035 0.0338 0.009 0.0035 0.0398 -0.009 0 0.0398 0.009 0"/><mesh name="rack_a_h25" vertex="0.0398 -0.009 0 0.0398 0.009 0 0.0398 -0.009 0.0035 0.0398 0.009 0.0035 0.0458 -0.009 0 0.0458 0.009 0"/><mesh name="rack_a_h26" vertex="0.0458 -0.009 0 0.0458 0.009 0 0.0458 -0.009 0.0035 0.0458 0.009 0.0035 0.0518 -0.009 0 0.0518 0.009 0"/><mesh name="rack_a_h27" vertex="0.0518 -0.009 0 0.0518 0.009 0 0.0518 -0.009 0.0035 0.0518 0.009 0.0035 0.0578 -0.009 0 0.0578 0.009 0"/><mesh name="rack_a_h28" vertex="0.0578 -0.009 0 0.0578 0.009 0 0.0578 -0.009 0.0035 0.0578 0.009 0.0035 0.0638 -0.009 0 0.0638 0.009 0"/><mesh name="rack_a_h29" vertex="0.0638 -0.009 0 0.0638 0.009 0 0.0638 -0.009 0.0035 0.0638 0.009 0.0035 0.0698 -0.009 0 0.0698 0.009 0"/><mesh name="rack_a_h30" vertex="0.0698 -0.009 0 0.0698 0.009 0 0.0698 -0.009 0.0035 0.0698 0.009 0.0035 0.0758 -0.009 0 0.0758 0.009 0"/><mesh name="rack_a_h31" vertex="0.0758 -0.009 0 0.0758 0.009 0 0.0758 -0.009 0.0035 0.0758 0.009 0.0035 0.0818 -0.009 0 0.0818 0.009 0"/><mesh name="rack_a_h32" vertex="0.0818 -0.009 0 0.0818 0.009 0 0.0818 -0.009 0.0035 0.0818 0.009 0.0035 0.0878 -0.009 0 0.0878 0.009 0"/><mesh name="rack_a_h33" vertex="0.0878 -0.009 0 0.0878 0.009 0 0.0878 -0.009 0.0035 0.0878 0.009 0.0035 0.0938 -0.009 0 0.0938 0.009 0"/><mesh name="rack_a_h34" vertex="0.0938 -0.009 0 0.0938 0.009 0 0.0938 -0.009 0.0035 0.0938 0.009 0.0035 0.0998 -0.009 0 0.0998 0.009 0"/><mesh name="rack_a_h35" vertex="0.0998 -0.009 0 0.0998 0.009 0 0.0998 -0.009 0.0035 0.0998 0.009 0.0035 0.1058 -0.009 0 0.1058 0.009 0"/><mesh name="rack_a_h36" vertex="0.1058 -0.009 0 0.1058 0.009 0 0.1058 -0.009 0.0035 0.1058 0.009 0.0035 0.1118 -0.009 0 0.1118 0.009 0"/><mesh name="rack_a_h37" vertex="0.1118 -0.009 0 0.1118 0.009 0 0.1118 -0.009 0.0035 0.1118 0.009 0.0035 0.1178 -0.009 0 0.1178 0.009 0"/><mesh name="rack_a_h38" vertex="0.1178 -0.009 0 0.1178 0.009 0 0.1178 -0.009 0.0035 0.1178 0.009 0.0035 0.1238 -0.009 0 0.1238 0.009 0"/><mesh name="rack_a_h39" vertex="0.1238 -0.009 0 0.1238 0.009 0 0.1238 -0.009 0.0035 0.1238 0.009 0.0035 0.1298 -0.009 0 0.1298 0.009 0"/><mesh name="lever_c_h0" vertex="-0.0067 -0.016 0.048 -0.0067 -0.01 0.048 -0.0027 -0.016 0.048 -0.0027 -0.01 0.048 -0.0027 -0.016 0.092 -0.0027 -0.01 0.092 -0.0067 -0.016 0.092 -0.0067 -0.01 0.092"/><mesh name="lever_c_h1" vertex="0.0027 -0.016 0.048 0.0027 -0.01 0.048 0.0067 -0.016 0.048 0.0067 -0.01 0.048 0.0067 -0.016 0.092 0.0067 -0.01 0.092 0.0027 -0.016 0.092 0.0027 -0.01 0.092"/></asset>
<size memory="64M"/>
<worldbody>
<body name="rack_a" pos="0 0 0"><joint name="j_a" type="slide" axis="1 0 0" damping="0.05" frictionloss="0.05"/><inertial pos="0.009619742489 0 -0.006347639485" mass="0.327132" fullinertia="0.00002326218505 0.001914300092 0.001908703035 0 4.775016052e-7 0"/><geom name="rack_a_h0" type="mesh" mesh="rack_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="rack_a_h1" type="mesh" mesh="rack_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="rack_a_h2" type="mesh" mesh="rack_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="rack_a_h3" type="mesh" mesh="rack_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="rack_a_h4" type="mesh" mesh="rack_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="rack_a_h5" type="mesh" mesh="rack_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="rack_a_h6" type="mesh" mesh="rack_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="rack_a_h7" type="mesh" mesh="rack_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="rack_a_h8" type="mesh" mesh="rack_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="rack_a_h9" type="mesh" mesh="rack_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="rack_a_h10" type="mesh" mesh="rack_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="rack_a_h11" type="mesh" mesh="rack_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="rack_a_h12" type="mesh" mesh="rack_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="rack_a_h13" type="mesh" mesh="rack_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="rack_a_h14" type="mesh" mesh="rack_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="rack_a_h15" type="mesh" mesh="rack_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="rack_a_h16" type="mesh" mesh="rack_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="rack_a_h17" type="mesh" mesh="rack_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="rack_a_h18" type="mesh" mesh="rack_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="rack_a_h19" type="mesh" mesh="rack_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="rack_a_h20" type="mesh" mesh="rack_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="rack_a_h21" type="mesh" mesh="rack_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="rack_a_h22" type="mesh" mesh="rack_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="rack_a_h23" type="mesh" mesh="rack_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="rack_a_h24" type="mesh" mesh="rack_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="rack_a_h25" type="mesh" mesh="rack_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="rack_a_h26" type="mesh" mesh="rack_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="rack_a_h27" type="mesh" mesh="rack_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="rack_a_h28" type="mesh" mesh="rack_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="rack_a_h29" type="mesh" mesh="rack_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"/><geom name="rack_a_h30" type="mesh" mesh="rack_a_h30" 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="rack_a_h31" type="mesh" mesh="rack_a_h31" 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="rack_a_h32" type="mesh" mesh="rack_a_h32" 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="rack_a_h33" type="mesh" mesh="rack_a_h33" 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="rack_a_h34" type="mesh" mesh="rack_a_h34" 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="rack_a_h35" type="mesh" mesh="rack_a_h35" 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="rack_a_h36" type="mesh" mesh="rack_a_h36" 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="rack_a_h37" type="mesh" mesh="rack_a_h37" 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="rack_a_h38" type="mesh" mesh="rack_a_h38" 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="rack_a_h39" type="mesh" mesh="rack_a_h39" 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="lever_c" pos="0 0 0.055"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.0125953218 0.03187057053" mass="0.05159830397" fullinertia="0.00007020689843 0.00007038577529 9.712217302e-7 0 0 4.114182438e-7"/><geom name="lever_c_h0" type="mesh" mesh="lever_c_h0" contype="16" conaffinity="8" 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"/><geom name="lever_c_h1" type="mesh" mesh="lever_c_h1" contype="16" conaffinity="8" 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 name="pawl_1" pos="0 0 -0.025"><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="0.005" springref="0.2"/><inertial pos="0.008690322941 -0.004 -0.009174975566" mass="0.001995753336" fullinertia="1.697804846e-7 3.20447923e-7 1.52620444e-7 0 1.580222695e-7 0"/><geom name="pawl_1_h0" type="capsule" fromto="0 -0.004 0 0.026 -0.004 -0.02745" size="0.0012" 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="pawl_2" pos="0 0 0.025"><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="0.005" springref="0.2"/><inertial pos="0.02340781214 0.004 -0.03237384019" mass="0.004034099678" fullinertia="0.000002518892056 0.000003834446942 0.0000013189755 0 0.000001818086826 0"/><geom name="pawl_2_h0" type="capsule" fromto="0 0.004 0 0.056 0.004 -0.07745" size="0.0012" 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 0 0.125"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.02077958236 0.0004284919012" mass="0.05836566278" fullinertia="0.000006044701924 0.00001120208353 0.000005715092788 0 0 -1.695520246e-7"/><geom name="crank_h0" type="capsule" fromto="0 -0.02 0.013608 0 -0.008 0.013608" 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>
