<mujoco model="232-vibrating-arm-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"/>
<asset><mesh name="wheel_h0" vertex="0.049902 -0.005 0.06881 0.049902 0.005 0.06881 0.056784 -0.005 0.082314 0.056784 0.005 0.082314 0.04602 -0.005 0.088782 0.04602 0.005 0.088782 0.037328 -0.005 0.076365 0.037328 0.005 0.076365"/><mesh name="wheel_h1" vertex="0.026196 -0.005 0.080863 0.026196 0.005 0.080863 0.028569 -0.005 0.095832 0.028569 0.005 0.095832 0.016333 -0.005 0.098657 0.016333 0.005 0.098657 0.011903 -0.005 0.084162 0.011903 0.005 0.084162"/><mesh name="wheel_h2" vertex="-0.000074 -0.005 0.085 -0.000074 0.005 0.085 -0.002443 -0.005 0.09997 -0.002443 0.005 0.09997 -0.014954 -0.005 0.098876 -0.014954 0.005 0.098876 -0.014687 -0.005 0.083722 -0.014687 0.005 0.083722"/><mesh name="wheel_h3" vertex="-0.026337 -0.005 0.080817 -0.026337 0.005 0.080817 -0.033216 -0.005 0.094322 -0.033216 0.005 0.094322 -0.044776 -0.005 0.089415 -0.044776 0.005 0.089415 -0.03984 -0.005 0.075085 -0.03984 0.005 0.075085"/><mesh name="wheel_h4" vertex="-0.050022 -0.005 0.068723 -0.050022 0.005 0.068723 -0.060738 -0.005 0.079441 -0.060738 0.005 0.079441 -0.070215 -0.005 0.071203 -0.070215 0.005 0.071203 -0.061092 -0.005 0.059099 -0.061092 0.005 0.059099"/><mesh name="wheel_h5" vertex="-0.06881 -0.005 0.049902 -0.06881 0.005 0.049902 -0.082314 -0.005 0.056784 -0.082314 0.005 0.056784 -0.088782 -0.005 0.04602 -0.088782 0.005 0.04602 -0.076365 -0.005 0.037328 -0.076365 0.005 0.037328"/><mesh name="wheel_h6" vertex="-0.080863 -0.005 0.026196 -0.080863 0.005 0.026196 -0.095832 -0.005 0.028569 -0.095832 0.005 0.028569 -0.098657 -0.005 0.016333 -0.098657 0.005 0.016333 -0.084162 -0.005 0.011903 -0.084162 0.005 0.011903"/><mesh name="wheel_h7" vertex="-0.085 -0.005 -0.000074 -0.085 0.005 -0.000074 -0.09997 -0.005 -0.002443 -0.09997 0.005 -0.002443 -0.098876 -0.005 -0.014954 -0.098876 0.005 -0.014954 -0.083722 -0.005 -0.014687 -0.083722 0.005 -0.014687"/><mesh name="wheel_h8" vertex="-0.080817 -0.005 -0.026337 -0.080817 0.005 -0.026337 -0.094322 -0.005 -0.033216 -0.094322 0.005 -0.033216 -0.089415 -0.005 -0.044776 -0.089415 0.005 -0.044776 -0.075085 -0.005 -0.03984 -0.075085 0.005 -0.03984"/><mesh name="wheel_h9" vertex="-0.068723 -0.005 -0.050022 -0.068723 0.005 -0.050022 -0.079441 -0.005 -0.060738 -0.079441 0.005 -0.060738 -0.071203 -0.005 -0.070215 -0.071203 0.005 -0.070215 -0.059099 -0.005 -0.061092 -0.059099 0.005 -0.061092"/><mesh name="wheel_h10" vertex="-0.049902 -0.005 -0.06881 -0.049902 0.005 -0.06881 -0.056784 -0.005 -0.082314 -0.056784 0.005 -0.082314 -0.04602 -0.005 -0.088782 -0.04602 0.005 -0.088782 -0.037328 -0.005 -0.076365 -0.037328 0.005 -0.076365"/><mesh name="wheel_h11" vertex="-0.026196 -0.005 -0.080863 -0.026196 0.005 -0.080863 -0.028569 -0.005 -0.095832 -0.028569 0.005 -0.095832 -0.016333 -0.005 -0.098657 -0.016333 0.005 -0.098657 -0.011903 -0.005 -0.084162 -0.011903 0.005 -0.084162"/><mesh name="wheel_h12" vertex="0.000074 -0.005 -0.085 0.000074 0.005 -0.085 0.002443 -0.005 -0.09997 0.002443 0.005 -0.09997 0.014954 -0.005 -0.098876 0.014954 0.005 -0.098876 0.014687 -0.005 -0.083722 0.014687 0.005 -0.083722"/><mesh name="wheel_h13" vertex="0.026337 -0.005 -0.080817 0.026337 0.005 -0.080817 0.033216 -0.005 -0.094322 0.033216 0.005 -0.094322 0.044776 -0.005 -0.089415 0.044776 0.005 -0.089415 0.03984 -0.005 -0.075085 0.03984 0.005 -0.075085"/><mesh name="wheel_h14" vertex="0.050022 -0.005 -0.068723 0.050022 0.005 -0.068723 0.060738 -0.005 -0.079441 0.060738 0.005 -0.079441 0.070215 -0.005 -0.071203 0.070215 0.005 -0.071203 0.061092 -0.005 -0.059099 0.061092 0.005 -0.059099"/><mesh name="wheel_h15" vertex="0.06881 -0.005 -0.049902 0.06881 0.005 -0.049902 0.082314 -0.005 -0.056784 0.082314 0.005 -0.056784 0.088782 -0.005 -0.04602 0.088782 0.005 -0.04602 0.076365 -0.005 -0.037328 0.076365 0.005 -0.037328"/><mesh name="wheel_h16" vertex="0.080863 -0.005 -0.026196 0.080863 0.005 -0.026196 0.095832 -0.005 -0.028569 0.095832 0.005 -0.028569 0.098657 -0.005 -0.016333 0.098657 0.005 -0.016333 0.084162 -0.005 -0.011903 0.084162 0.005 -0.011903"/><mesh name="wheel_h17" vertex="0.085 -0.005 0.000074 0.085 0.005 0.000074 0.09997 -0.005 0.002443 0.09997 0.005 0.002443 0.098876 -0.005 0.014954 0.098876 0.005 0.014954 0.083722 -0.005 0.014687 0.083722 0.005 0.014687"/><mesh name="wheel_h18" vertex="0.080817 -0.005 0.026337 0.080817 0.005 0.026337 0.094322 -0.005 0.033216 0.094322 0.005 0.033216 0.089415 -0.005 0.044776 0.089415 0.005 0.044776 0.075085 -0.005 0.03984 0.075085 0.005 0.03984"/><mesh name="wheel_h19" vertex="0.068723 -0.005 0.050022 0.068723 0.005 0.050022 0.079441 -0.005 0.060738 0.079441 0.005 0.060738 0.071203 -0.005 0.070215 0.071203 0.005 0.070215 0.059099 -0.005 0.061092 0.059099 0.005 0.061092"/><mesh name="pawl_c_h0" vertex="0.059828 -0.004 -0.045367 0.059828 0.004 -0.045367 0.072608 -0.004 -0.033247 0.072608 0.004 -0.033247 0.064948 -0.004 -0.026819 0.064948 0.004 -0.026819 0.055231 -0.004 -0.041511 0.055231 0.004 -0.041511"/></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="0.2"/><inertial pos="0 0.0000183326095 0" mass="2.205485119" fullinertia="0.004741917485 0.009445353257 0.004741917485 0 0 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"/></body>
<body name="arm_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.2"/><inertial pos="0 -0.0119533788 0.02470233092" mass="0.29696787" fullinertia="0.0005631774765 0.000586748058 0.00002573001784 0 1.157833972e-7 -0.00000142917593"/><body name="pawl_c" pos="0 0 0.112"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="0 0.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.04256067365 -0.0004766339133 -0.01420755343" mass="0.1036454075" fullinertia="0.00002539125717 0.0001034981726 0.00008127314654 -6.205087859e-7 0.00003925046506 7.018661558e-7"/><geom name="pawl_c_h0" type="mesh" mesh="pawl_c_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"/></body>
</body>
<body name="lever_b" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.06306219541 -0.02006138092 0" mass="0.1077890949" fullinertia="0.000002137413301 0.000310107087 0.0003087214552 -2.187459032e-7 0 0"/><body name="link" pos="0.03 0 0"><joint name="j_link" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.0275 0.056" mass="0.03841741526" fullinertia="0.0000567112407 0.00005683447057 2.833024344e-7 0 0 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><connect name="pin_c" body1="link" body2="pawl_c" anchor="0 -0.0275 0.112" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="pawl_c"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="20" forcerange="-60 60"/></actuator>
</mujoco>
