<mujoco model="237-crown-ratchet-rag-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="0.073926 -0.003305 0 0.071802 0.017902 0 0.071802 0.017902 0.012 0.085914 -0.003841 0 0.083445 0.020805 0 0.083445 0.020805 0.012"/><mesh name="wheel_h1" vertex="0.071329 0.019701 0 0.062756 0.039214 0 0.062756 0.039214 0.012 0.082896 0.022896 0 0.072932 0.045573 0 0.072932 0.045573 0.012"/><mesh name="wheel_h2" vertex="0.06175 0.040779 0 0.047566 0.056687 0 0.047566 0.056687 0.012 0.071764 0.047391 0 0.05528 0.06588 0 0.05528 0.06588 0.012"/><mesh name="wheel_h3" vertex="0.046127 0.057865 0 0.027721 0.068612 0 0.027721 0.068612 0.012 0.053607 0.067248 0 0.032216 0.079738 0 0.032216 0.079738 0.012"/><mesh name="wheel_h4" vertex="0.025988 0.069287 0 0.005162 0.07382 0 0.005162 0.07382 0.012 0.030202 0.080522 0 0.005999 0.085791 0 0.005999 0.085791 0.012"/><mesh name="wheel_h5" vertex="0.003305 0.073926 0 -0.017902 0.071802 0 -0.017902 0.071802 0.012 0.003841 0.085914 0 -0.020805 0.083445 0 -0.020805 0.083445 0.012"/><mesh name="wheel_h6" vertex="-0.019701 0.071329 0 -0.039214 0.062756 0 -0.039214 0.062756 0.012 -0.022896 0.082896 0 -0.045573 0.072932 0 -0.045573 0.072932 0.012"/><mesh name="wheel_h7" vertex="-0.040779 0.06175 0 -0.056687 0.047566 0 -0.056687 0.047566 0.012 -0.047391 0.071764 0 -0.06588 0.05528 0 -0.06588 0.05528 0.012"/><mesh name="wheel_h8" vertex="-0.057865 0.046127 0 -0.068612 0.027721 0 -0.068612 0.027721 0.012 -0.067248 0.053607 0 -0.079738 0.032216 0 -0.079738 0.032216 0.012"/><mesh name="wheel_h9" vertex="-0.069287 0.025988 0 -0.07382 0.005162 0 -0.07382 0.005162 0.012 -0.080522 0.030202 0 -0.085791 0.005999 0 -0.085791 0.005999 0.012"/><mesh name="wheel_h10" vertex="-0.073926 0.003305 0 -0.071802 -0.017902 0 -0.071802 -0.017902 0.012 -0.085914 0.003841 0 -0.083445 -0.020805 0 -0.083445 -0.020805 0.012"/><mesh name="wheel_h11" vertex="-0.071329 -0.019701 0 -0.062756 -0.039214 0 -0.062756 -0.039214 0.012 -0.082896 -0.022896 0 -0.072932 -0.045573 0 -0.072932 -0.045573 0.012"/><mesh name="wheel_h12" vertex="-0.06175 -0.040779 0 -0.047566 -0.056687 0 -0.047566 -0.056687 0.012 -0.071764 -0.047391 0 -0.05528 -0.06588 0 -0.05528 -0.06588 0.012"/><mesh name="wheel_h13" vertex="-0.046127 -0.057865 0 -0.027721 -0.068612 0 -0.027721 -0.068612 0.012 -0.053607 -0.067248 0 -0.032216 -0.079738 0 -0.032216 -0.079738 0.012"/><mesh name="wheel_h14" vertex="-0.025988 -0.069287 0 -0.005162 -0.07382 0 -0.005162 -0.07382 0.012 -0.030202 -0.080522 0 -0.005999 -0.085791 0 -0.005999 -0.085791 0.012"/><mesh name="wheel_h15" vertex="-0.003305 -0.073926 0 0.017902 -0.071802 0 0.017902 -0.071802 0.012 -0.003841 -0.085914 0 0.020805 -0.083445 0 0.020805 -0.083445 0.012"/><mesh name="wheel_h16" vertex="0.019701 -0.071329 0 0.039214 -0.062756 0 0.039214 -0.062756 0.012 0.022896 -0.082896 0 0.045573 -0.072932 0 0.045573 -0.072932 0.012"/><mesh name="wheel_h17" vertex="0.040779 -0.06175 0 0.056687 -0.047566 0 0.056687 -0.047566 0.012 0.047391 -0.071764 0 0.06588 -0.05528 0 0.06588 -0.05528 0.012"/><mesh name="wheel_h18" vertex="0.057865 -0.046127 0 0.068612 -0.027721 0 0.068612 -0.027721 0.012 0.067248 -0.053607 0 0.079738 -0.032216 0 0.079738 -0.032216 0.012"/><mesh name="wheel_h19" vertex="0.069287 -0.025988 0 0.07382 -0.005162 0 0.07382 -0.005162 0.012 0.080522 -0.030202 0 0.085791 -0.005999 0 0.085791 -0.005999 0.012"/><mesh name="pawl_h0" vertex="-0.005 -0.002867 -0.001044 -0.005 -0.017888 -0.022496 -0.005 -0.015021 -0.024504 -0.005 0 -0.003052 0.005 -0.002867 -0.001044 0.005 -0.017888 -0.022496 0.005 -0.015021 -0.024504 0.005 0 -0.003052"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0.05"/><inertial pos="0 0 -0.01227733754" mass="2.035575504" fullinertia="0.00538256134 0.00538256134 0.01037747227 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" pos="0 0 0.034"><joint name="j_arm" type="hinge" axis="0 0 1" damping="0.001" frictionloss="0"/><inertial pos="0.05344062535 0 0" mass="0.1105026942" fullinertia="0.00000337132409 0.0003092231031 0.0003104938494 0 0 0"/><body name="pawl" pos="0.08 0 0"><joint name="j_pawl" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0" range="-0.8 0.2" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.008944 -0.012774" mass="0.007149874056" fullinertia="4.159263452e-7 3.361753809e-7 1.989155319e-7 0 0 -1.885621723e-7"/><geom name="pawl_h0" type="mesh" mesh="pawl_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>
