<mujoco model="136-cam-wheel-toothed-face">
<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="wheel_h0" vertex="-0.006 0.035 0 -0.006 0.095 0 -0.006 0.091763 0.024588 -0.006 0.033807 0.009059 0.016 0.035 0 0.016 0.095 0 0.012 0.091763 0.024588 0.012 0.033807 0.009059"/><mesh name="wheel_h1" vertex="-0.006 0.033807 0.009059 -0.006 0.091763 0.024588 -0.006 0.082272 0.0475 -0.006 0.030311 0.0175 0.012 0.033807 0.009059 0.012 0.091763 0.024588 0.008 0.082272 0.0475 0.008 0.030311 0.0175"/><mesh name="wheel_h2" vertex="-0.006 0.030311 0.0175 -0.006 0.082272 0.0475 -0.006 0.067175 0.067175 -0.006 0.024749 0.024749 0.008 0.030311 0.0175 0.008 0.082272 0.0475 0.004 0.067175 0.067175 0.004 0.024749 0.024749"/><mesh name="wheel_h3" vertex="-0.006 0.024749 0.024749 -0.006 0.067175 0.067175 -0.006 0.0475 0.082272 -0.006 0.0175 0.030311 0.004 0.024749 0.024749 0.004 0.067175 0.067175 0 0.0475 0.082272 0 0.0175 0.030311"/><mesh name="wheel_h4" vertex="-0.006 0.0175 0.030311 -0.006 0.0475 0.082272 -0.006 0.024588 0.091763 -0.006 0.009059 0.033807 0.016 0.0175 0.030311 0.016 0.0475 0.082272 0.012 0.024588 0.091763 0.012 0.009059 0.033807"/><mesh name="wheel_h5" vertex="-0.006 0.009059 0.033807 -0.006 0.024588 0.091763 -0.006 0 0.095 -0.006 0 0.035 0.012 0.009059 0.033807 0.012 0.024588 0.091763 0.008 0 0.095 0.008 0 0.035"/><mesh name="wheel_h6" vertex="-0.006 0 0.035 -0.006 0 0.095 -0.006 -0.024588 0.091763 -0.006 -0.009059 0.033807 0.008 0 0.035 0.008 0 0.095 0.004 -0.024588 0.091763 0.004 -0.009059 0.033807"/><mesh name="wheel_h7" vertex="-0.006 -0.009059 0.033807 -0.006 -0.024588 0.091763 -0.006 -0.0475 0.082272 -0.006 -0.0175 0.030311 0.004 -0.009059 0.033807 0.004 -0.024588 0.091763 0 -0.0475 0.082272 0 -0.0175 0.030311"/><mesh name="wheel_h8" vertex="-0.006 -0.0175 0.030311 -0.006 -0.0475 0.082272 -0.006 -0.067175 0.067175 -0.006 -0.024749 0.024749 0.016 -0.0175 0.030311 0.016 -0.0475 0.082272 0.012 -0.067175 0.067175 0.012 -0.024749 0.024749"/><mesh name="wheel_h9" vertex="-0.006 -0.024749 0.024749 -0.006 -0.067175 0.067175 -0.006 -0.082272 0.0475 -0.006 -0.030311 0.0175 0.012 -0.024749 0.024749 0.012 -0.067175 0.067175 0.008 -0.082272 0.0475 0.008 -0.030311 0.0175"/><mesh name="wheel_h10" vertex="-0.006 -0.030311 0.0175 -0.006 -0.082272 0.0475 -0.006 -0.091763 0.024588 -0.006 -0.033807 0.009059 0.008 -0.030311 0.0175 0.008 -0.082272 0.0475 0.004 -0.091763 0.024588 0.004 -0.033807 0.009059"/><mesh name="wheel_h11" vertex="-0.006 -0.033807 0.009059 -0.006 -0.091763 0.024588 -0.006 -0.095 0 -0.006 -0.035 0 0.004 -0.033807 0.009059 0.004 -0.091763 0.024588 0 -0.095 0 0 -0.035 0"/><mesh name="wheel_h12" vertex="-0.006 -0.035 0 -0.006 -0.095 0 -0.006 -0.091763 -0.024588 -0.006 -0.033807 -0.009059 0.016 -0.035 0 0.016 -0.095 0 0.012 -0.091763 -0.024588 0.012 -0.033807 -0.009059"/><mesh name="wheel_h13" vertex="-0.006 -0.033807 -0.009059 -0.006 -0.091763 -0.024588 -0.006 -0.082272 -0.0475 -0.006 -0.030311 -0.0175 0.012 -0.033807 -0.009059 0.012 -0.091763 -0.024588 0.008 -0.082272 -0.0475 0.008 -0.030311 -0.0175"/><mesh name="wheel_h14" vertex="-0.006 -0.030311 -0.0175 -0.006 -0.082272 -0.0475 -0.006 -0.067175 -0.067175 -0.006 -0.024749 -0.024749 0.008 -0.030311 -0.0175 0.008 -0.082272 -0.0475 0.004 -0.067175 -0.067175 0.004 -0.024749 -0.024749"/><mesh name="wheel_h15" vertex="-0.006 -0.024749 -0.024749 -0.006 -0.067175 -0.067175 -0.006 -0.0475 -0.082272 -0.006 -0.0175 -0.030311 0.004 -0.024749 -0.024749 0.004 -0.067175 -0.067175 0 -0.0475 -0.082272 0 -0.0175 -0.030311"/><mesh name="wheel_h16" vertex="-0.006 -0.0175 -0.030311 -0.006 -0.0475 -0.082272 -0.006 -0.024588 -0.091763 -0.006 -0.009059 -0.033807 0.016 -0.0175 -0.030311 0.016 -0.0475 -0.082272 0.012 -0.024588 -0.091763 0.012 -0.009059 -0.033807"/><mesh name="wheel_h17" vertex="-0.006 -0.009059 -0.033807 -0.006 -0.024588 -0.091763 -0.006 0 -0.095 -0.006 0 -0.035 0.012 -0.009059 -0.033807 0.012 -0.024588 -0.091763 0.008 0 -0.095 0.008 0 -0.035"/><mesh name="wheel_h18" vertex="-0.006 0 -0.035 -0.006 0 -0.095 -0.006 0.024588 -0.091763 -0.006 0.009059 -0.033807 0.008 0 -0.035 0.008 0 -0.095 0.004 0.024588 -0.091763 0.004 0.009059 -0.033807"/><mesh name="wheel_h19" vertex="-0.006 0.009059 -0.033807 -0.006 0.024588 -0.091763 -0.006 0.0475 -0.082272 -0.006 0.0175 -0.030311 0.004 0.009059 -0.033807 0.004 0.024588 -0.091763 0 0.0475 -0.082272 0 0.0175 -0.030311"/><mesh name="wheel_h20" vertex="-0.006 0.0175 -0.030311 -0.006 0.0475 -0.082272 -0.006 0.067175 -0.067175 -0.006 0.024749 -0.024749 0.016 0.0175 -0.030311 0.016 0.0475 -0.082272 0.012 0.067175 -0.067175 0.012 0.024749 -0.024749"/><mesh name="wheel_h21" vertex="-0.006 0.024749 -0.024749 -0.006 0.067175 -0.067175 -0.006 0.082272 -0.0475 -0.006 0.030311 -0.0175 0.012 0.024749 -0.024749 0.012 0.067175 -0.067175 0.008 0.082272 -0.0475 0.008 0.030311 -0.0175"/><mesh name="wheel_h22" vertex="-0.006 0.030311 -0.0175 -0.006 0.082272 -0.0475 -0.006 0.091763 -0.024588 -0.006 0.033807 -0.009059 0.008 0.030311 -0.0175 0.008 0.082272 -0.0475 0.004 0.091763 -0.024588 0.004 0.033807 -0.009059"/><mesh name="wheel_h23" vertex="-0.006 0.033807 -0.009059 -0.006 0.091763 -0.024588 -0.006 0.095 0 -0.006 0.035 0 0.004 0.033807 -0.009059 0.004 0.091763 -0.024588 0 0.095 0 0 0.035 0"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="1 0 0" damping="0.002" frictionloss="0"/><inertial pos="-0.01605026008 0 0" mass="8" fullinertia="0.03450771134 0.02101563369 0.02101563369 0 0 -1.034220854e-8"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h1" type="mesh" mesh="wheel_h1" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h2" type="mesh" mesh="wheel_h2" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h3" type="mesh" mesh="wheel_h3" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h4" type="mesh" mesh="wheel_h4" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h5" type="mesh" mesh="wheel_h5" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h6" type="mesh" mesh="wheel_h6" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h7" type="mesh" mesh="wheel_h7" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h8" type="mesh" mesh="wheel_h8" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h9" type="mesh" mesh="wheel_h9" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h10" type="mesh" mesh="wheel_h10" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h11" type="mesh" mesh="wheel_h11" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h12" type="mesh" mesh="wheel_h12" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h13" type="mesh" mesh="wheel_h13" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h14" type="mesh" mesh="wheel_h14" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h15" type="mesh" mesh="wheel_h15" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h16" type="mesh" mesh="wheel_h16" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h17" type="mesh" mesh="wheel_h17" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h18" type="mesh" mesh="wheel_h18" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h19" type="mesh" mesh="wheel_h19" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h20" type="mesh" mesh="wheel_h20" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h21" type="mesh" mesh="wheel_h21" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h22" type="mesh" mesh="wheel_h22" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h23" type="mesh" mesh="wheel_h23" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="rod" pos="0.0185 0 0.07"><joint name="j_x" type="slide" axis="1 0 0" damping="3" frictionloss="0" range="-0.022 0.006" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="40" springref="-0.036"/><inertial pos="0.1504930156 0 0" mass="0.1" fullinertia="0.000002198058751 0.0005776167662 0.0005776167662 0 0 0"/><geom name="rod_h0" type="capsule" fromto="0 0 0 0.01 0 0" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.001 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_w" kv="3000" forcerange="-3000 3000"/></actuator>
</mujoco>
