<mujoco model="236-two-pawl-lever-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="0.06591 -0.005 0.003454 0.06591 0.005 0.003454 0.07989 -0.005 0.004187 0.07989 0.005 0.004187 0.062662 -0.005 0.020724 0.062662 0.005 0.020724"/><mesh name="wheel_h1" vertex="0.061616 -0.005 0.023652 0.061616 0.005 0.023652 0.074686 -0.005 0.028669 0.074686 0.005 0.028669 0.053191 -0.005 0.039073 0.053191 0.005 0.039073"/><mesh name="wheel_h2" vertex="0.051292 -0.005 0.041535 0.051292 0.005 0.041535 0.062172 -0.005 0.050346 0.062172 0.005 0.050346 0.038514 -0.005 0.053598 0.038514 0.005 0.053598"/><mesh name="wheel_h3" vertex="0.035946 -0.005 0.055352 0.035946 0.005 0.055352 0.043571 -0.005 0.067094 0.043571 0.005 0.067094 0.020066 -0.005 0.062876 0.020066 0.005 0.062876"/><mesh name="wheel_h4" vertex="0.017082 -0.005 0.063751 0.017082 0.005 0.063751 0.020706 -0.005 0.077274 0.020706 0.005 0.077274 -0.000346 -0.005 0.065999 -0.000346 0.005 0.065999"/><mesh name="wheel_h5" vertex="-0.003454 -0.005 0.06591 -0.003454 0.005 0.06591 -0.004187 -0.005 0.07989 -0.004187 0.005 0.07989 -0.020724 -0.005 0.062662 -0.020724 0.005 0.062662"/><mesh name="wheel_h6" vertex="-0.023652 -0.005 0.061616 -0.023652 0.005 0.061616 -0.028669 -0.005 0.074686 -0.028669 0.005 0.074686 -0.039073 -0.005 0.053191 -0.039073 0.005 0.053191"/><mesh name="wheel_h7" vertex="-0.041535 -0.005 0.051292 -0.041535 0.005 0.051292 -0.050346 -0.005 0.062172 -0.050346 0.005 0.062172 -0.053598 -0.005 0.038514 -0.053598 0.005 0.038514"/><mesh name="wheel_h8" vertex="-0.055352 -0.005 0.035946 -0.055352 0.005 0.035946 -0.067094 -0.005 0.043571 -0.067094 0.005 0.043571 -0.062876 -0.005 0.020066 -0.062876 0.005 0.020066"/><mesh name="wheel_h9" vertex="-0.063751 -0.005 0.017082 -0.063751 0.005 0.017082 -0.077274 -0.005 0.020706 -0.077274 0.005 0.020706 -0.065999 -0.005 -0.000346 -0.065999 0.005 -0.000346"/><mesh name="wheel_h10" vertex="-0.06591 -0.005 -0.003454 -0.06591 0.005 -0.003454 -0.07989 -0.005 -0.004187 -0.07989 0.005 -0.004187 -0.062662 -0.005 -0.020724 -0.062662 0.005 -0.020724"/><mesh name="wheel_h11" vertex="-0.061616 -0.005 -0.023652 -0.061616 0.005 -0.023652 -0.074686 -0.005 -0.028669 -0.074686 0.005 -0.028669 -0.053191 -0.005 -0.039073 -0.053191 0.005 -0.039073"/><mesh name="wheel_h12" vertex="-0.051292 -0.005 -0.041535 -0.051292 0.005 -0.041535 -0.062172 -0.005 -0.050346 -0.062172 0.005 -0.050346 -0.038514 -0.005 -0.053598 -0.038514 0.005 -0.053598"/><mesh name="wheel_h13" vertex="-0.035946 -0.005 -0.055352 -0.035946 0.005 -0.055352 -0.043571 -0.005 -0.067094 -0.043571 0.005 -0.067094 -0.020066 -0.005 -0.062876 -0.020066 0.005 -0.062876"/><mesh name="wheel_h14" vertex="-0.017082 -0.005 -0.063751 -0.017082 0.005 -0.063751 -0.020706 -0.005 -0.077274 -0.020706 0.005 -0.077274 0.000346 -0.005 -0.065999 0.000346 0.005 -0.065999"/><mesh name="wheel_h15" vertex="0.003454 -0.005 -0.06591 0.003454 0.005 -0.06591 0.004187 -0.005 -0.07989 0.004187 0.005 -0.07989 0.020724 -0.005 -0.062662 0.020724 0.005 -0.062662"/><mesh name="wheel_h16" vertex="0.023652 -0.005 -0.061616 0.023652 0.005 -0.061616 0.028669 -0.005 -0.074686 0.028669 0.005 -0.074686 0.039073 -0.005 -0.053191 0.039073 0.005 -0.053191"/><mesh name="wheel_h17" vertex="0.041535 -0.005 -0.051292 0.041535 0.005 -0.051292 0.050346 -0.005 -0.062172 0.050346 0.005 -0.062172 0.053598 -0.005 -0.038514 0.053598 0.005 -0.038514"/><mesh name="wheel_h18" vertex="0.055352 -0.005 -0.035946 0.055352 0.005 -0.035946 0.067094 -0.005 -0.043571 0.067094 0.005 -0.043571 0.062876 -0.005 -0.020066 0.062876 0.005 -0.020066"/><mesh name="wheel_h19" vertex="0.063751 -0.005 -0.017082 0.063751 0.005 -0.017082 0.077274 -0.005 -0.020706 0.077274 0.005 -0.020706 0.065999 -0.005 0.000346 0.065999 0.005 0.000346"/><mesh name="pawl_b_h0" vertex="-0.004254 -0.004 0.001466 -0.004254 0.004 0.001466 0.004254 -0.004 -0.001466 0.004254 0.004 -0.001466 -0.038179 -0.004 -0.123042 -0.038179 0.004 -0.123042 -0.045742 -0.004 -0.120435 -0.045742 0.004 -0.120435"/><mesh name="pawl_c_h0" vertex="-0.001293 -0.004 0.00431 -0.001293 0.004 0.00431 0.001293 -0.004 -0.00431 0.001293 0.004 -0.00431 -0.098003 -0.004 -0.03357 -0.098003 0.004 -0.03357 -0.100301 -0.004 -0.025907 -0.100301 0.004 -0.025907"/></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="0.1"/><inertial pos="0 0 0" mass="1.508570845" fullinertia="0.00189209193 0.003753047036 0.00189209193 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="lever_a" pos="0.035 0 0.152"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.002334287979 -0.01557009463 0.002085278709" mass="0.2890413272" fullinertia="0.00004563351072 0.0007757791507 0.0007435041922 0.00002872541943 0.00003741716287 0.000003268808903"/><body name="pawl_b" pos="-0.065 0 0.008"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.5 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01883866944 0 -0.05465596906" mass="0.07456614587" fullinertia="0.0001052113349 0.0001176845811 0.00001326861844 0 -0.00003596307833 0"/><geom name="pawl_b_h0" type="mesh" mesh="pawl_b_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="pawl_c" pos="0.05 0 -0.042"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.6 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.04362053979 0 -0.01308304424" mass="0.06117685953" fullinertia="0.000005931400227 0.00006392384445 0.00005864499739 0 -0.00001737313616 0"/><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="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_a" kv="20" forcerange="-60 60"/></actuator>
</mujoco>
