<mujoco model="225-arm-pawl-ratchet">
<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_h0" vertex="0.004073 -0.005 0.06888 0.004073 0.005 0.06888 -0.011984 -0.005 0.079097 -0.011984 0.005 0.079097 -0.010337 -0.005 0.068221 -0.010337 0.005 0.068221"/><mesh name="wheel_h1" vertex="-0.010337 -0.005 0.068221 -0.010337 0.005 0.068221 -0.028168 -0.005 0.074877 -0.028168 0.005 0.074877 -0.024295 -0.005 0.064581 -0.024295 0.005 0.064581"/><mesh name="wheel_h2" vertex="-0.024295 -0.005 0.064581 -0.024295 0.005 0.064581 -0.04312 -0.005 0.067384 -0.04312 0.005 0.067384 -0.037191 -0.005 0.058119 -0.037191 0.005 0.058119"/><mesh name="wheel_h3" vertex="-0.037191 -0.005 0.058119 -0.037191 0.005 0.058119 -0.056188 -0.005 0.056947 -0.056188 0.005 0.056947 -0.048462 -0.005 0.049117 -0.048462 0.005 0.049117"/><mesh name="wheel_h4" vertex="-0.048462 -0.005 0.049117 -0.048462 0.005 0.049117 -0.0668 -0.005 0.04402 -0.0668 0.005 0.04402 -0.057615 -0.005 0.037967 -0.057615 0.005 0.037967"/><mesh name="wheel_h5" vertex="-0.057615 -0.005 0.037967 -0.057615 0.005 0.037967 -0.074492 -0.005 0.02917 -0.074492 0.005 0.02917 -0.06425 -0.005 0.025159 -0.06425 0.005 0.025159"/><mesh name="wheel_h6" vertex="-0.06425 -0.005 0.025159 -0.06425 0.005 0.025159 -0.078929 -0.005 0.013044 -0.078929 0.005 0.013044 -0.068077 -0.005 0.011251 -0.068077 0.005 0.011251"/><mesh name="wheel_h7" vertex="-0.068077 -0.005 0.011251 -0.068077 0.005 0.011251 -0.079917 -0.005 -0.003651 -0.079917 0.005 -0.003651 -0.068928 -0.005 -0.003149 -0.068928 0.005 -0.003149"/><mesh name="wheel_h8" vertex="-0.068928 -0.005 -0.003149 -0.068928 0.005 -0.003149 -0.077411 -0.005 -0.020187 -0.077411 0.005 -0.020187 -0.066767 -0.005 -0.017411 -0.066767 0.005 -0.017411"/><mesh name="wheel_h9" vertex="-0.066767 -0.005 -0.017411 -0.066767 0.005 -0.017411 -0.071523 -0.005 -0.03584 -0.071523 0.005 -0.03584 -0.061688 -0.005 -0.030912 -0.061688 0.005 -0.030912"/><mesh name="wheel_h10" vertex="-0.061688 -0.005 -0.030912 -0.061688 0.005 -0.030912 -0.062508 -0.005 -0.049927 -0.062508 0.005 -0.049927 -0.053913 -0.005 -0.043062 -0.053913 0.005 -0.043062"/><mesh name="wheel_h11" vertex="-0.053913 -0.005 -0.043062 -0.053913 0.005 -0.043062 -0.050762 -0.005 -0.061833 -0.050762 0.005 -0.061833 -0.043782 -0.005 -0.053331 -0.043782 0.005 -0.053331"/><mesh name="wheel_h12" vertex="-0.043782 -0.005 -0.053331 -0.043782 0.005 -0.053331 -0.036797 -0.005 -0.071035 -0.036797 0.005 -0.071035 -0.031737 -0.005 -0.061268 -0.031737 0.005 -0.061268"/><mesh name="wheel_h13" vertex="-0.031737 -0.005 -0.061268 -0.031737 0.005 -0.061268 -0.021223 -0.005 -0.077133 -0.021223 0.005 -0.077133 -0.018305 -0.005 -0.066528 -0.018305 0.005 -0.066528"/><mesh name="wheel_h14" vertex="-0.018305 -0.005 -0.066528 -0.018305 0.005 -0.066528 -0.004723 -0.005 -0.07986 -0.004723 0.005 -0.07986 -0.004073 -0.005 -0.06888 -0.004073 0.005 -0.06888"/><mesh name="wheel_h15" vertex="-0.004073 -0.005 -0.06888 -0.004073 0.005 -0.06888 0.011984 -0.005 -0.079097 0.011984 0.005 -0.079097 0.010337 -0.005 -0.068221 0.010337 0.005 -0.068221"/><mesh name="wheel_h16" vertex="0.010337 -0.005 -0.068221 0.010337 0.005 -0.068221 0.028168 -0.005 -0.074877 0.028168 0.005 -0.074877 0.024295 -0.005 -0.064581 0.024295 0.005 -0.064581"/><mesh name="wheel_h17" vertex="0.024295 -0.005 -0.064581 0.024295 0.005 -0.064581 0.04312 -0.005 -0.067384 0.04312 0.005 -0.067384 0.037191 -0.005 -0.058119 0.037191 0.005 -0.058119"/><mesh name="wheel_h18" vertex="0.037191 -0.005 -0.058119 0.037191 0.005 -0.058119 0.056188 -0.005 -0.056947 0.056188 0.005 -0.056947 0.048462 -0.005 -0.049117 0.048462 0.005 -0.049117"/><mesh name="wheel_h19" vertex="0.048462 -0.005 -0.049117 0.048462 0.005 -0.049117 0.0668 -0.005 -0.04402 0.0668 0.005 -0.04402 0.057615 -0.005 -0.037967 0.057615 0.005 -0.037967"/><mesh name="wheel_h20" vertex="0.057615 -0.005 -0.037967 0.057615 0.005 -0.037967 0.074492 -0.005 -0.02917 0.074492 0.005 -0.02917 0.06425 -0.005 -0.025159 0.06425 0.005 -0.025159"/><mesh name="wheel_h21" vertex="0.06425 -0.005 -0.025159 0.06425 0.005 -0.025159 0.078929 -0.005 -0.013044 0.078929 0.005 -0.013044 0.068077 -0.005 -0.011251 0.068077 0.005 -0.011251"/><mesh name="wheel_h22" vertex="0.068077 -0.005 -0.011251 0.068077 0.005 -0.011251 0.079917 -0.005 0.003651 0.079917 0.005 0.003651 0.068928 -0.005 0.003149 0.068928 0.005 0.003149"/><mesh name="wheel_h23" vertex="0.068928 -0.005 0.003149 0.068928 0.005 0.003149 0.077411 -0.005 0.020187 0.077411 0.005 0.020187 0.066767 -0.005 0.017411 0.066767 0.005 0.017411"/><mesh name="wheel_h24" vertex="0.066767 -0.005 0.017411 0.066767 0.005 0.017411 0.071523 -0.005 0.03584 0.071523 0.005 0.03584 0.061688 -0.005 0.030912 0.061688 0.005 0.030912"/><mesh name="wheel_h25" vertex="0.061688 -0.005 0.030912 0.061688 0.005 0.030912 0.062508 -0.005 0.049927 0.062508 0.005 0.049927 0.053913 -0.005 0.043062 0.053913 0.005 0.043062"/><mesh name="wheel_h26" vertex="0.053913 -0.005 0.043062 0.053913 0.005 0.043062 0.050762 -0.005 0.061833 0.050762 0.005 0.061833 0.043782 -0.005 0.053331 0.043782 0.005 0.053331"/><mesh name="wheel_h27" vertex="0.043782 -0.005 0.053331 0.043782 0.005 0.053331 0.036797 -0.005 0.071035 0.036797 0.005 0.071035 0.031737 -0.005 0.061268 0.031737 0.005 0.061268"/><mesh name="wheel_h28" vertex="0.031737 -0.005 0.061268 0.031737 0.005 0.061268 0.021223 -0.005 0.077133 0.021223 0.005 0.077133 0.018305 -0.005 0.066528 0.018305 0.005 0.066528"/><mesh name="wheel_h29" vertex="0.018305 -0.005 0.066528 0.018305 0.005 0.066528 0.004723 -0.005 0.07986 0.004723 0.005 0.07986 0.004073 -0.005 0.06888 0.004073 0.005 0.06888"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.01"/><inertial pos="0 0 0" mass="1.462781001" fullinertia="0.001975032171 0.003923448113 0.00197503827 0 -2.841148772e-9 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_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_h1" type="mesh" mesh="wheel_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_h2" type="mesh" mesh="wheel_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_h3" type="mesh" mesh="wheel_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_h4" type="mesh" mesh="wheel_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_h5" type="mesh" mesh="wheel_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_h6" type="mesh" mesh="wheel_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_h7" type="mesh" mesh="wheel_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_h8" type="mesh" mesh="wheel_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_h9" type="mesh" mesh="wheel_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_h10" type="mesh" mesh="wheel_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_h11" type="mesh" mesh="wheel_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_h12" type="mesh" mesh="wheel_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_h13" type="mesh" mesh="wheel_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_h14" type="mesh" mesh="wheel_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_h15" type="mesh" mesh="wheel_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_h16" type="mesh" mesh="wheel_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_h17" type="mesh" mesh="wheel_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_h18" type="mesh" mesh="wheel_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_h19" type="mesh" mesh="wheel_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_h20" type="mesh" mesh="wheel_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_h21" type="mesh" mesh="wheel_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_h22" type="mesh" mesh="wheel_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_h23" type="mesh" mesh="wheel_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"/><geom name="wheel_h24" type="mesh" mesh="wheel_h24" 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_h25" type="mesh" mesh="wheel_h25" 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_h26" type="mesh" mesh="wheel_h26" 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_h27" type="mesh" mesh="wheel_h27" 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_h28" type="mesh" mesh="wheel_h28" 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_h29" type="mesh" mesh="wheel_h29" 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="arm" pos="0 0 0"><joint name="j_arm" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.03196852201 -0.01261052662 0.05116033505" mass="0.1028211683" fullinertia="0.0001868491604 0.0002602429912 0.00007450737493 -5.249245523e-7 0.0001151675393 8.400590436e-7"/><body name="pawl" pos="-0.054052 0 0.086501"><joint name="j_pawl" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01299122993 0 -0.004149637724" mass="0.01169557677" fullinertia="2.488051409e-7 0.000001966957219 0.000001790042753 0 5.482354223e-7 0"/><geom name="pawl_h0" type="capsule" fromto="0.034447 0 -0.011003 0.041115 0 -0.013133" 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="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_arm" kv="20" forcerange="-40 40"/></actuator>
</mujoco>
