<mujoco model="121-disk-wheel-click-feed">
<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>
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<body name="disk_d" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.004625653214 0.008807825154 0.0001224253505" mass="0.8977650185" fullinertia="0.00123951588 0.002779860892 0.001548885812 0.00001339342901 7.616326205e-7 5.833788007e-7"/><geom name="disk_d_h0" type="mesh" mesh="disk_d_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="disk_d_h1" type="mesh" mesh="disk_d_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"/><body name="click_b" pos="-0.002304 0 0.06596"><joint name="j_bp" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.6 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.01" springref="0.25"/><inertial pos="-0.007745 0 -0.0109595" mass="0.001479819068" fullinertia="6.035698627e-8 8.96687314e-8 3.097654158e-8 0 -4.147734935e-8 0"/><geom name="click_b_h0" type="capsule" fromto="0 0 0 -0.01549 0 -0.021919" 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>
<body name="rod_c" pos="0.085 0 0"><joint name="j_c" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 -0.008484320198 0.05341695894" mass="0.0296932342" fullinertia="0.00004250824928 0.00004237957633 2.599760735e-7 0 0 8.179312193e-7"/><geom name="rod_c_h0" type="capsule" fromto="0 -0.006 0 0 0.005 0" size="0.0025" 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="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_c" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
