<mujoco model="86-pump-wheel-cam-catch">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="shaft_h0" vertex="0.001536 -0.012 -0.01066 0.001536 -0.002 -0.01066 0.008536 -0.012 -0.022785 0.008536 -0.002 -0.022785 0.015464 -0.012 -0.018785 0.015464 -0.002 -0.018785 0.008464 -0.012 -0.00666 0.008464 -0.002 -0.00666"/><mesh name="catch_b_h0" vertex="-0.003 -0.012 0 -0.003 -0.002 0 0.003 -0.012 0 0.003 -0.002 0 0.007 -0.012 -0.024 0.007 -0.002 -0.024 0.001 -0.012 -0.024 0.001 -0.002 -0.024"/><mesh name="catch_b_h1" vertex="0.002 -0.012 -0.028 0.002 -0.002 -0.028 0.0185 -0.012 -0.028 0.0185 -0.002 -0.028 0.0185 -0.012 -0.02 0.0185 -0.002 -0.02 0.002 -0.012 -0.02 0.002 -0.002 -0.02"/><mesh name="catch_b_h2" vertex="0.0045 -0.0195 -0.024 0.0045 -0.013 -0.024 0.008221 -0.0195 -0.029905 0.008221 -0.013 -0.029905 -0.004104 -0.0195 -0.032524 -0.004104 -0.013 -0.032524 -0.005 -0.0195 -0.024 -0.005 -0.013 -0.024"/><mesh name="catch_b_h3" vertex="0.008221 -0.0195 -0.029905 0.008221 -0.013 -0.029905 0.012887 -0.0195 -0.03429 0.012887 -0.013 -0.03429 -0.001455 -0.0195 -0.040676 -0.001455 -0.013 -0.040676 -0.004104 -0.0195 -0.032524 -0.004104 -0.013 -0.032524"/><mesh name="catch_b_h4" vertex="0.012887 -0.0195 -0.03429 0.012887 -0.013 -0.03429 0.01804 -0.0195 -0.037049 0.01804 -0.013 -0.037049 0.00283 -0.0195 -0.048099 0.00283 -0.013 -0.048099 -0.001455 -0.0195 -0.040676 -0.001455 -0.013 -0.040676"/><mesh name="catch_b_h5" vertex="0.01804 -0.0195 -0.037049 0.01804 -0.013 -0.037049 0.02322 -0.0195 -0.038194 0.02322 -0.013 -0.038194 0.008566 -0.0195 -0.054469 0.008566 -0.013 -0.054469 0.00283 -0.0195 -0.048099 0.00283 -0.013 -0.048099"/><mesh name="catch_b_h6" vertex="0.02322 -0.0195 -0.038194 0.02322 -0.013 -0.038194 0.028 -0.0195 -0.037856 0.028 -0.013 -0.037856 0.0155 -0.0195 -0.059507 0.0155 -0.013 -0.059507 0.008566 -0.0195 -0.054469 0.008566 -0.013 -0.054469"/></asset>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.001399035209 -0.007 -0.002423215135" mass="1" fullinertia="0.00009125891719 0.0001381205323 0.00006948440552 0 0.00001885690078 0"/><geom name="shaft_h0" type="mesh" mesh="shaft_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="shaft_h1" type="capsule" fromto="0.012 -0.008 -0.020785 0.012 -0.006 -0.020785" size="0.004" 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="wheel_a" pos="0 0 0"><joint name="j_A" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="0 1.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0001872815187 0.005306107844 0.0001248543458" mass="0.4" fullinertia="0.0006881336847 0.001371466543 0.0006896241426 -8.469700188e-7 0.000001788549415 5.646466792e-7"/><site name="rope_a" pos="-0.013979 0.006 0.079277" size="0.003"/><body name="catch_b" pos="-0.036 0 0.024"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.2" frictionloss="0" range="0 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.3" springref="-0.15"/><inertial pos="0.008036268166 -0.01230823381 -0.03098984982" mass="0.03" fullinertia="0.000006649856173 0.000007295361007 0.000002235230854 2.47221583e-7 0.000001546620932 -0.00000156693713"/><geom name="catch_b_h0" type="mesh" mesh="catch_b_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="catch_b_h1" type="mesh" mesh="catch_b_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="catch_b_h2" type="mesh" mesh="catch_b_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="catch_b_h3" type="mesh" mesh="catch_b_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="catch_b_h4" type="mesh" mesh="catch_b_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"/><geom name="catch_b_h5" type="mesh" mesh="catch_b_h5" 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="catch_b_h6" type="mesh" mesh="catch_b_h6" 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="bucket" pos="-0.0805 0 -0.12"><joint name="j_w" type="slide" axis="0 0 1" damping="20" frictionloss="0"/><inertial pos="0 0.007 -0.08328331748" mass="0.5" fullinertia="0.0002327510262 0.000230478652 0.0000720092178 0 0 0"/><site name="rope_b" pos="0 0.006 0" size="0.003"/></body>
<body name="frame" pos="0 0 0"><geom name="frame_h0" type="capsule" fromto="-0.019159 -0.0165 0.019727 -0.019159 -0.016 0.019727" size="0.003" 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>
<geom name="rope_over" type="cylinder" fromto="0 -0.004 0 0 0.016 0" size="0.08" contype="0" conaffinity="0" group="3" mass="0"/><site name="rope_side" pos="-0.17 0.006 0.1" size="0.003"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="rope" limited="true" range="0 0.2317389608" width="0.0015" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="rope_a"/><geom geom="rope_over" sidesite="rope_side"/><site site="rope_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_s" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
