<mujoco model="235-tappet-arm-ratchet-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="0.006127 -0.005 0.030389 0.006127 0.005 0.030389 0.011858 -0.005 0.058817 0.011858 0.005 0.058817 -0.019761 -0.005 0.023885 -0.019761 0.005 0.023885"/><mesh name="wheel_h1" vertex="-0.023254 -0.005 0.0205 -0.023254 0.005 0.0205 -0.045008 -0.005 0.039678 -0.045008 0.005 0.039678 -0.030566 -0.005 -0.005171 -0.030566 0.005 -0.005171"/><mesh name="wheel_h2" vertex="-0.029381 -0.005 -0.009888 -0.029381 0.005 -0.009888 -0.056866 -0.005 -0.019139 -0.056866 0.005 -0.019139 -0.010805 -0.005 -0.029056 -0.010805 0.005 -0.029056"/><mesh name="wheel_h3" vertex="-0.006127 -0.005 -0.030389 -0.006127 0.005 -0.030389 -0.011858 -0.005 -0.058817 -0.011858 0.005 -0.058817 0.019761 -0.005 -0.023885 0.019761 0.005 -0.023885"/><mesh name="wheel_h4" vertex="0.023254 -0.005 -0.0205 0.023254 0.005 -0.0205 0.045008 -0.005 -0.039678 0.045008 0.005 -0.039678 0.030566 -0.005 0.005171 0.030566 0.005 0.005171"/><mesh name="wheel_h5" vertex="0.029381 -0.005 0.009888 0.029381 0.005 0.009888 0.056866 -0.005 0.019139 0.056866 0.005 0.019139 0.010805 -0.005 0.029056 0.010805 0.005 0.029056"/><mesh name="click_h0" vertex="-0.079341 -0.004 -0.030252 -0.079341 0.004 -0.030252 0 -0.004 -0.005 0 0.004 -0.005 0 -0.004 0.005 0 0.004 0.005 -0.074243 -0.004 -0.008851 -0.074243 0.004 -0.008851"/><mesh name="tappet_h0" vertex="0.003416 -0.004 0.002929 0.003416 0.004 0.002929 -0.003417 -0.004 -0.002928 -0.003417 0.004 -0.002928 -0.035197 -0.004 0.035685 -0.035197 0.004 0.035685 -0.029883 -0.004 0.040241 -0.029883 0.004 0.040241"/></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="0.05"/><inertial pos="0 0 0" mass="0.4872914045" fullinertia="0.0002132264251 0.000417120484 0.0002132286493 0 -8.638324822e-11 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"/></body>
<body name="click" pos="0.09 0 0.075"><joint name="j_click" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.6 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.5" springref="0.3"/><inertial pos="-0.03671349945 0 -0.009394945274" mass="0.0838862907" fullinertia="0.000005733653373 0.00005811028182 0.00005327141555 0 -0.0000137129625 0"/><geom name="click_h0" type="mesh" mesh="click_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 name="arm" pos="0.19 0 -0.06"><joint name="j_arm" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.01634728569 -0.01485660278 -0.001688600415" mass="0.3169758337" fullinertia="0.00004242376248 0.0009954492726 0.0009600341437 0.00002119609987 -0.0000568115333 0.000001095386597"/><body name="tappet" pos="-0.12746 0 -0.012963"><joint name="j_tap" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.9 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.2" springref="0.3"/><inertial pos="-0.0124605055 0 0.01453710851" mass="0.0312320184" fullinertia="0.000004927293679 0.000008310945505 0.000003716793355 0 0.000003911001906 0"/><geom name="tappet_h0" type="mesh" mesh="tappet_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="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="-30 30"/></actuator>
</mujoco>
