<mujoco model="83-two-ratchet-arcs-rock-shaft">
<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_d_h0" vertex="-0.041 -0.012 0 -0.041 0.012 0 -0.05 -0.012 0 -0.05 0.012 0 -0.039603 -0.012 0.010612 -0.039603 0.012 0.010612"/><mesh name="wheel_d_h1" vertex="-0.039603 -0.012 0.010612 -0.039603 0.012 0.010612 -0.048296 -0.012 0.012941 -0.048296 0.012 0.012941 -0.035507 -0.012 0.0205 -0.035507 0.012 0.0205"/><mesh name="wheel_d_h2" vertex="-0.035507 -0.012 0.0205 -0.035507 0.012 0.0205 -0.043301 -0.012 0.025 -0.043301 0.012 0.025 -0.028991 -0.012 0.028991 -0.028991 0.012 0.028991"/><mesh name="wheel_d_h3" vertex="-0.028991 -0.012 0.028991 -0.028991 0.012 0.028991 -0.035355 -0.012 0.035355 -0.035355 0.012 0.035355 -0.0205 -0.012 0.035507 -0.0205 0.012 0.035507"/><mesh name="wheel_d_h4" vertex="-0.0205 -0.012 0.035507 -0.0205 0.012 0.035507 -0.025 -0.012 0.043301 -0.025 0.012 0.043301 -0.010612 -0.012 0.039603 -0.010612 0.012 0.039603"/><mesh name="wheel_d_h5" vertex="-0.010612 -0.012 0.039603 -0.010612 0.012 0.039603 -0.012941 -0.012 0.048296 -0.012941 0.012 0.048296 0 -0.012 0.041 0 0.012 0.041"/><mesh name="wheel_d_h6" vertex="0 -0.012 0.041 0 0.012 0.041 0 -0.012 0.05 0 0.012 0.05 0.010612 -0.012 0.039603 0.010612 0.012 0.039603"/><mesh name="wheel_d_h7" vertex="0.010612 -0.012 0.039603 0.010612 0.012 0.039603 0.012941 -0.012 0.048296 0.012941 0.012 0.048296 0.0205 -0.012 0.035507 0.0205 0.012 0.035507"/><mesh name="wheel_d_h8" vertex="0.0205 -0.012 0.035507 0.0205 0.012 0.035507 0.025 -0.012 0.043301 0.025 0.012 0.043301 0.028991 -0.012 0.028991 0.028991 0.012 0.028991"/><mesh name="wheel_d_h9" vertex="0.028991 -0.012 0.028991 0.028991 0.012 0.028991 0.035355 -0.012 0.035355 0.035355 0.012 0.035355 0.035507 -0.012 0.0205 0.035507 0.012 0.0205"/><mesh name="wheel_d_h10" vertex="0.035507 -0.012 0.0205 0.035507 0.012 0.0205 0.043301 -0.012 0.025 0.043301 0.012 0.025 0.039603 -0.012 0.010612 0.039603 0.012 0.010612"/><mesh name="wheel_d_h11" vertex="0.039603 -0.012 0.010612 0.039603 0.012 0.010612 0.048296 -0.012 0.012941 0.048296 0.012 0.012941 0.041 -0.012 0 0.041 0.012 0"/><mesh name="wheel_d_h12" vertex="0.041 -0.012 0 0.041 0.012 0 0.05 -0.012 0 0.05 0.012 0 0.039603 -0.012 -0.010612 0.039603 0.012 -0.010612"/><mesh name="wheel_d_h13" vertex="0.039603 -0.012 -0.010612 0.039603 0.012 -0.010612 0.048296 -0.012 -0.012941 0.048296 0.012 -0.012941 0.035507 -0.012 -0.0205 0.035507 0.012 -0.0205"/><mesh name="wheel_d_h14" vertex="0.035507 -0.012 -0.0205 0.035507 0.012 -0.0205 0.043301 -0.012 -0.025 0.043301 0.012 -0.025 0.028991 -0.012 -0.028991 0.028991 0.012 -0.028991"/><mesh name="wheel_d_h15" vertex="0.028991 -0.012 -0.028991 0.028991 0.012 -0.028991 0.035355 -0.012 -0.035355 0.035355 0.012 -0.035355 0.0205 -0.012 -0.035507 0.0205 0.012 -0.035507"/><mesh name="wheel_d_h16" vertex="0.0205 -0.012 -0.035507 0.0205 0.012 -0.035507 0.025 -0.012 -0.043301 0.025 0.012 -0.043301 0.010612 -0.012 -0.039603 0.010612 0.012 -0.039603"/><mesh name="wheel_d_h17" vertex="0.010612 -0.012 -0.039603 0.010612 0.012 -0.039603 0.012941 -0.012 -0.048296 0.012941 0.012 -0.048296 0 -0.012 -0.041 0 0.012 -0.041"/><mesh name="wheel_d_h18" vertex="0 -0.012 -0.041 0 0.012 -0.041 0 -0.012 -0.05 0 0.012 -0.05 -0.010612 -0.012 -0.039603 -0.010612 0.012 -0.039603"/><mesh name="wheel_d_h19" vertex="-0.010612 -0.012 -0.039603 -0.010612 0.012 -0.039603 -0.012941 -0.012 -0.048296 -0.012941 0.012 -0.048296 -0.0205 -0.012 -0.035507 -0.0205 0.012 -0.035507"/><mesh name="wheel_d_h20" vertex="-0.0205 -0.012 -0.035507 -0.0205 0.012 -0.035507 -0.025 -0.012 -0.043301 -0.025 0.012 -0.043301 -0.028991 -0.012 -0.028991 -0.028991 0.012 -0.028991"/><mesh name="wheel_d_h21" vertex="-0.028991 -0.012 -0.028991 -0.028991 0.012 -0.028991 -0.035355 -0.012 -0.035355 -0.035355 0.012 -0.035355 -0.035507 -0.012 -0.0205 -0.035507 0.012 -0.0205"/><mesh name="wheel_d_h22" vertex="-0.035507 -0.012 -0.0205 -0.035507 0.012 -0.0205 -0.043301 -0.012 -0.025 -0.043301 0.012 -0.025 -0.039603 -0.012 -0.010612 -0.039603 0.012 -0.010612"/><mesh name="wheel_d_h23" vertex="-0.039603 -0.012 -0.010612 -0.039603 0.012 -0.010612 -0.048296 -0.012 -0.012941 -0.048296 0.012 -0.012941 -0.041 -0.012 0 -0.041 0.012 0"/><mesh name="arc_1_h0" vertex="-0.010809 -0.011 -0.030875 -0.010809 -0.0015 -0.030875 0.002263 -0.011 -0.025036 0.002263 -0.0015 -0.025036 -0.004938 -0.011 -0.021553 -0.004938 -0.0015 -0.021553"/><mesh name="arc_1_h1" vertex="-0.004938 -0.011 -0.021553 -0.004938 -0.0015 -0.021553 0.006519 -0.011 -0.012967 0.006519 -0.0015 -0.012967 -0.001275 -0.011 -0.011163 -0.001275 -0.0015 -0.011163"/><mesh name="arc_1_h2" vertex="-0.001275 -0.011 -0.011163 -0.001275 -0.0015 -0.011163 0.007999 -0.011 -0.000256 0.007999 -0.0015 -0.000256 0 -0.011 -0.000221 0 -0.0015 -0.000221"/><mesh name="arc_1_h3" vertex="0 -0.011 -0.000221 0 -0.0015 -0.000221 0.006632 -0.011 0.012467 0.006632 -0.0015 0.012467 -0.001178 -0.011 0.010733 -0.001178 -0.0015 0.010733"/><mesh name="arc_1_h4" vertex="-0.001178 -0.011 0.010733 -0.001178 -0.0015 0.010733 0.002485 -0.011 0.024573 0.002485 -0.0015 0.024573 -0.004748 -0.011 0.021154 -0.004748 -0.0015 0.021154"/><mesh name="arc_2_h0" vertex="-0.002003 0.0015 -0.024471 -0.002003 0.011 -0.024471 -0.009896 0.0015 -0.02317 -0.009896 0.011 -0.02317 -0.000491 0.0015 -0.012152 -0.000491 0.011 -0.012152"/><mesh name="arc_2_h1" vertex="-0.000491 0.0015 -0.012152 -0.000491 0.011 -0.012152 -0.008465 0.0015 -0.011506 -0.008465 0.011 -0.011506 0 0.0015 0.000248 0 0.011 0.000248"/><mesh name="arc_2_h2" vertex="0 0.0015 0.000248 0 0.011 0.000248 -0.008 0.0015 0.000235 -0.008 0.011 0.000235 -0.000532 0.0015 0.012647 -0.000532 0.011 0.012647"/><mesh name="arc_2_h3" vertex="-0.000532 0.0015 0.012647 -0.000532 0.011 0.012647 -0.008504 0.0015 0.011975 -0.008504 0.011 0.011975 -0.002084 0.0015 0.02496 -0.002084 0.011 0.02496"/><mesh name="arc_2_h4" vertex="-0.002084 0.0015 0.02496 -0.002084 0.011 0.02496 -0.009973 0.0015 0.023634 -0.009973 0.011 0.023634 -0.004645 0.0015 0.037104 -0.004645 0.011 0.037104"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel_d" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 0 0" mass="1.230783175" fullinertia="0.0007222682927 0.001326381401 0.0007222682927 0 0 0"/><geom name="wheel_d_h0" type="mesh" mesh="wheel_d_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_d_h1" type="mesh" mesh="wheel_d_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_d_h2" type="mesh" mesh="wheel_d_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_d_h3" type="mesh" mesh="wheel_d_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_d_h4" type="mesh" mesh="wheel_d_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_d_h5" type="mesh" mesh="wheel_d_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_d_h6" type="mesh" mesh="wheel_d_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_d_h7" type="mesh" mesh="wheel_d_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_d_h8" type="mesh" mesh="wheel_d_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_d_h9" type="mesh" mesh="wheel_d_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_d_h10" type="mesh" mesh="wheel_d_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_d_h11" type="mesh" mesh="wheel_d_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_d_h12" type="mesh" mesh="wheel_d_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_d_h13" type="mesh" mesh="wheel_d_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_d_h14" type="mesh" mesh="wheel_d_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_d_h15" type="mesh" mesh="wheel_d_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_d_h16" type="mesh" mesh="wheel_d_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_d_h17" type="mesh" mesh="wheel_d_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_d_h18" type="mesh" mesh="wheel_d_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_d_h19" type="mesh" mesh="wheel_d_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_d_h20" type="mesh" mesh="wheel_d_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_d_h21" type="mesh" mesh="wheel_d_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_d_h22" type="mesh" mesh="wheel_d_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_d_h23" type="mesh" mesh="wheel_d_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"/></body>
<body name="rock_b" pos="-0.1 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.03477832741 -0.0002715583261 0.02202182391" mass="0.17553998" fullinertia="0.0001903056049 0.0006977301767 0.0006037391325 -0.0000922767157 -0.00009684226518 -0.00001271607664"/><body name="arc_1" pos="0.0495 0 0"><joint name="j_c1" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.012 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="6" springref="0.016"/><inertial pos="-0.004099101779 -0.00625 -0.001471059193" mass="0.005" fullinertia="0.000001464870189 0.000001525097637 1.354357817e-7 0 -1.83312214e-8 0"/><geom name="arc_1_h0" type="mesh" mesh="arc_1_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"/><geom name="arc_1_h1" type="mesh" mesh="arc_1_h1" 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="arc_1_h2" type="mesh" mesh="arc_1_h2" 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="arc_1_h3" type="mesh" mesh="arc_1_h3" 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="arc_1_h4" type="mesh" mesh="arc_1_h4" 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="arc_2" pos="0.1505 0 0"><joint name="j_c2" type="slide" axis="-1 0 0" damping="0.05" frictionloss="0" range="-0.012 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="6" springref="0.016"/><inertial pos="-0.0004669728387 0.00625 0.005713670638" mass="0.005" fullinertia="0.000001814276289 0.000001834559993 9.549203779e-8 0 4.934707022e-8 0"/><geom name="arc_2_h0" type="mesh" mesh="arc_2_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"/><geom name="arc_2_h1" type="mesh" mesh="arc_2_h1" 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="arc_2_h2" type="mesh" mesh="arc_2_h2" 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="arc_2_h3" type="mesh" mesh="arc_2_h3" 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="arc_2_h4" type="mesh" mesh="arc_2_h4" 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_a" pos="0 0 0.08"><joint name="j_la" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.015 -0.029 0" mass="0.004594579256" fullinertia="1.435806017e-8 3.517724743e-7 3.517724743e-7 0 0 0"/></body>
</body>
<body name="rod_a" pos="-0.07 0 0.08"><joint name="j_ra" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.07348178138 -0.03283603239 0" mass="0.04085499874" fullinertia="2.254545578e-7 0.0001097583672 0.0001097748534 4.922468521e-7 0 0"/></body>
<body name="crank" pos="0.149618 0 0.08"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.0232719712 0.0003342773303" mass="0.03369714905" fullinertia="0.000002002723513 0.000003564795051 0.000001930342932 0 0 5.888952554e-8"/><body name="conrod" pos="0 0 0.00676"><joint name="j_cr" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="-0.029809 -0.037 -0.00338" mass="0.007116087834" fullinertia="4.421064461e-8 0.000002143438906 0.000002116449194 0 -2.380284989e-7 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_l" body1="link_a" body2="rod_a" anchor="0.03 -0.029 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_r" body1="conrod" body2="rod_a" anchor="-0.059618 -0.037 -0.00676" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_a" body2="rod_a"/><exclude body1="conrod" body2="rod_a"/></contact>
<actuator><velocity name="drive" joint="j_k" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
