<mujoco model="238-star-wheel-escapement">
<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="-0.026897 -0.005 0.002353 -0.026897 0.005 0.002353 -0.045315 -0.005 -0.021131 -0.045315 0.005 -0.021131 -0.015487 -0.005 -0.022117 -0.015487 0.005 -0.022117"/><mesh name="wheel_h1" vertex="-0.015487 -0.005 -0.022117 -0.015487 0.005 -0.022117 -0.004358 -0.005 -0.04981 -0.004358 0.005 -0.04981 0.011411 -0.005 -0.02447 0.011411 0.005 -0.02447"/><mesh name="wheel_h2" vertex="0.011411 -0.005 -0.02447 0.011411 0.005 -0.02447 0.040958 -0.005 -0.028679 0.040958 0.005 -0.028679 0.026897 -0.005 -0.002353 0.026897 0.005 -0.002353"/><mesh name="wheel_h3" vertex="0.026897 -0.005 -0.002353 0.026897 0.005 -0.002353 0.045315 -0.005 0.021131 0.045315 0.005 0.021131 0.015487 -0.005 0.022117 0.015487 0.005 0.022117"/><mesh name="wheel_h4" vertex="0.015487 -0.005 0.022117 0.015487 0.005 0.022117 0.004358 -0.005 0.04981 0.004358 0.005 0.04981 -0.011411 -0.005 0.02447 -0.011411 0.005 0.02447"/><mesh name="wheel_h5" vertex="-0.011411 -0.005 0.02447 -0.011411 0.005 0.02447 -0.040958 -0.005 0.028679 -0.040958 0.005 0.028679 -0.026897 -0.005 0.002353 -0.026897 0.005 0.002353"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4102726518" fullinertia="0.0001473202533 0.0002871366324 0.0001473168562 0 5.254215548e-10 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="frame_a" pos="0.075112 0 -0.161078"><joint name="j_frame" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" stiffness="0.6" springref="0"/><inertial pos="-0.0005886238476 -0.009930598288 0.06127185252" mass="0.6440196619" fullinertia="0.002363113051 0.003760929235 0.001407213869 0.000006568054457 0.000400706336 -0.00001140303658"/><geom name="frame_a_h0" type="capsule" fromto="-0.11035 -0.014 0.13151 -0.11035 0.006 0.13151" size="0.004" 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"/><geom name="frame_a_h1" type="capsule" fromto="-0.029811 -0.014 0.169066 -0.029811 0.006 0.169066" size="0.004" 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="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><motor name="drive" joint="j_wheel" gear="1" ctrlrange="-0.1 0.1"/></actuator>
</mujoco>
