<mujoco model="155-elbow-lever-pawl-toothed-wheel">
<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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0.005 0.038517"/><mesh name="wheel_a_h11" vertex="0.016747 -0.005 0.038517 0.016747 0.005 0.038517 0.019937 -0.005 0.045853 0.019937 0.005 0.045853 0.006208 -0.005 0.041539 0.006208 0.005 0.041539"/><mesh name="wheel_a_h12" vertex="0.006208 -0.005 0.041539 0.006208 0.005 0.041539 0.00739 -0.005 0.049451 0.00739 0.005 0.049451 -0.004755 -0.005 0.04173 -0.004755 0.005 0.04173"/><mesh name="wheel_a_h13" vertex="-0.004755 -0.005 0.04173 -0.004755 0.005 0.04173 -0.00566 -0.005 0.049679 -0.00566 0.005 0.049679 -0.015393 -0.005 0.039078 -0.015393 0.005 0.039078"/><mesh name="wheel_a_h14" vertex="-0.015393 -0.005 0.039078 -0.015393 0.005 0.039078 -0.018325 -0.005 0.046521 -0.018325 0.005 0.046521 -0.024983 -0.005 0.033762 -0.024983 0.005 0.033762"/><mesh name="wheel_a_h15" vertex="-0.024983 -0.005 0.033762 -0.024983 0.005 0.033762 -0.029741 -0.005 0.040193 -0.029741 0.005 0.040193 -0.03287 -0.005 0.026146 -0.03287 0.005 0.026146"/><mesh name="wheel_a_h16" vertex="-0.03287 -0.005 0.026146 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<size memory="64M"/>
<worldbody>
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</body>
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<body name="crank" pos="-0.012216 0 -0.174628"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.002769461078 0.0001866267465" mass="0.07672947357" fullinertia="0.000006691313302 0.00001161554439 0.000006572267692 0 0 1.470563413e-7"/><geom name="crank_h0" type="capsule" fromto="0 -0.013 0.0085 0 -0.002 0.0085" 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>
