<mujoco model="239-spur-gear-stops">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="gear_h0" vertex="0.036683 -0.005 -0.004829 0.036683 0.005 -0.004829 0.049726 -0.005 -0.005226 0.049726 0.005 -0.005226 0.049726 -0.005 0.005226 0.049726 0.005 0.005226 0.036683 -0.005 0.004829 0.036683 0.005 0.004829"/><mesh name="gear_h1" vertex="0.034184 -0.005 0.014159 0.034184 0.005 0.014159 0.045677 -0.005 0.020337 0.045677 0.005 0.020337 0.040451 -0.005 0.029389 0.040451 0.005 0.029389 0.029354 -0.005 0.022524 0.029354 0.005 0.022524"/><mesh name="gear_h2" vertex="0.022524 -0.005 0.029354 0.022524 0.005 0.029354 0.029389 -0.005 0.040451 0.029389 0.005 0.040451 0.020337 -0.005 0.045677 0.020337 0.005 0.045677 0.014159 -0.005 0.034184 0.014159 0.005 0.034184"/><mesh name="gear_h3" vertex="0.004829 -0.005 0.036683 0.004829 0.005 0.036683 0.005226 -0.005 0.049726 0.005226 0.005 0.049726 -0.005226 -0.005 0.049726 -0.005226 0.005 0.049726 -0.004829 -0.005 0.036683 -0.004829 0.005 0.036683"/><mesh name="gear_h4" vertex="-0.014159 -0.005 0.034184 -0.014159 0.005 0.034184 -0.020337 -0.005 0.045677 -0.020337 0.005 0.045677 -0.029389 -0.005 0.040451 -0.029389 0.005 0.040451 -0.022524 -0.005 0.029354 -0.022524 0.005 0.029354"/><mesh name="gear_h5" vertex="-0.029354 -0.005 0.022524 -0.029354 0.005 0.022524 -0.040451 -0.005 0.029389 -0.040451 0.005 0.029389 -0.045677 -0.005 0.020337 -0.045677 0.005 0.020337 -0.034184 -0.005 0.014159 -0.034184 0.005 0.014159"/><mesh name="gear_h6" vertex="-0.036683 -0.005 0.004829 -0.036683 0.005 0.004829 -0.049726 -0.005 0.005226 -0.049726 0.005 0.005226 -0.049726 -0.005 -0.005226 -0.049726 0.005 -0.005226 -0.036683 -0.005 -0.004829 -0.036683 0.005 -0.004829"/><mesh name="gear_h7" vertex="-0.034184 -0.005 -0.014159 -0.034184 0.005 -0.014159 -0.045677 -0.005 -0.020337 -0.045677 0.005 -0.020337 -0.040451 -0.005 -0.029389 -0.040451 0.005 -0.029389 -0.029354 -0.005 -0.022524 -0.029354 0.005 -0.022524"/><mesh name="gear_h8" vertex="-0.022524 -0.005 -0.029354 -0.022524 0.005 -0.029354 -0.029389 -0.005 -0.040451 -0.029389 0.005 -0.040451 -0.020337 -0.005 -0.045677 -0.020337 0.005 -0.045677 -0.014159 -0.005 -0.034184 -0.014159 0.005 -0.034184"/><mesh name="gear_h9" vertex="-0.004829 -0.005 -0.036683 -0.004829 0.005 -0.036683 -0.005226 -0.005 -0.049726 -0.005226 0.005 -0.049726 0.005226 -0.005 -0.049726 0.005226 0.005 -0.049726 0.004829 -0.005 -0.036683 0.004829 0.005 -0.036683"/><mesh name="gear_h10" vertex="0.014159 -0.005 -0.034184 0.014159 0.005 -0.034184 0.020337 -0.005 -0.045677 0.020337 0.005 -0.045677 0.029389 -0.005 -0.040451 0.029389 0.005 -0.040451 0.022524 -0.005 -0.029354 0.022524 0.005 -0.029354"/><mesh name="gear_h11" vertex="0.029354 -0.005 -0.022524 0.029354 0.005 -0.022524 0.040451 -0.005 -0.029389 0.040451 0.005 -0.029389 0.045677 -0.005 -0.020337 0.045677 0.005 -0.020337 0.034184 -0.005 -0.014159 0.034184 0.005 -0.014159"/><mesh name="stop_l_h0" vertex="0.065315 -0.005 0.003902 0.065315 0.005 0.003902 0.062276 -0.005 0.021136 0.062276 0.005 0.021136 0.045736 -0.005 0.015601 0.045736 0.005 0.015601"/><mesh name="stop_r_h0" vertex="-0.065315 -0.005 0.003902 -0.065315 0.005 0.003902 -0.062276 -0.005 0.021136 -0.062276 0.005 0.021136 -0.045736 -0.005 0.015601 -0.045736 0.005 0.015601"/><mesh name="selector_h0" vertex="-0.06 -0.019 -0.06276 -0.06 -0.011 -0.06276 0.06 -0.019 -0.06276 0.06 -0.011 -0.06276 0.06 -0.019 -0.05676 0.06 -0.011 -0.05676 -0.06 -0.019 -0.05676 -0.06 -0.011 -0.05676"/></asset>
<size memory="64M"/>
<worldbody>
<body name="gear" pos="0 0 0"><joint name="j_gear" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.6050042449" fullinertia="0.0002858910508 0.0005592521759 0.0002858910508 0 0 0"/><geom name="gear_h0" type="mesh" mesh="gear_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h1" type="mesh" mesh="gear_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h2" type="mesh" mesh="gear_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h3" type="mesh" mesh="gear_h3" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h4" type="mesh" mesh="gear_h4" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h5" type="mesh" mesh="gear_h5" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h6" type="mesh" mesh="gear_h6" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h7" type="mesh" mesh="gear_h7" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h8" type="mesh" mesh="gear_h8" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h9" type="mesh" mesh="gear_h9" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h10" type="mesh" mesh="gear_h10" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="gear_h11" type="mesh" mesh="gear_h11" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="stop_l" pos="-0.072521 0 0.036968"><joint name="j_stop_l" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="0 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.05" springref="-0.2"/><inertial pos="0.03215759695 -0.005808051008 0.008965629425" mass="0.04215006997" fullinertia="0.000002602633224 0.00002251779438 0.00002159587598 -0.000002242590468 -0.000004943278377 -3.737889406e-7"/><geom name="stop_l_h0" type="mesh" mesh="stop_l_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="stop_l_h1" type="capsule" fromto="0.033301 -0.006 0.010772 0.033301 -0.02 0.010772" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="stop_r" pos="0.072521 0 0.036968"><joint name="j_stop_r" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.5 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.05" springref="0.2"/><inertial pos="-0.03215759695 -0.005808051008 0.008965629425" mass="0.04215006997" fullinertia="0.000002602633224 0.00002251779438 0.00002159587598 0.000002242590468 0.000004943278377 -3.737889406e-7"/><geom name="stop_r_h0" type="mesh" mesh="stop_r_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="stop_r_h1" type="capsule" fromto="-0.033301 -0.006 0.010772 -0.033301 -0.02 0.010772" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="selector" pos="0 0 0.1"><joint name="j_sel" type="hinge" axis="0 -1 0" damping="10" frictionloss="0" range="-0.37 0.37" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="20" springref="0"/><inertial pos="0 -0.015 -0.02844009765" mass="0.1010537842" fullinertia="0.0001384385623 0.0001920965874 0.00005478886165 0 0 0"/><geom name="selector_h0" type="mesh" mesh="selector_h0" contype="8" conaffinity="16" condim="3" friction="0.05 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><velocity name="drive" joint="j_gear" kv="20" forcerange="-30 30"/></actuator>
</mujoco>
