<mujoco model="240-ratchet-wheel-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"/>
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vertex="0.0385 -0.005 0.026958 0.0385 0.005 0.026958 0.049149 -0.005 0.034415 0.049149 0.005 0.034415 0.032139 -0.005 0.038302 0.032139 0.005 0.038302 0.030211 -0.005 0.036004 0.030211 0.005 0.036004"/><mesh name="wheel_h22" vertex="0.030211 -0.005 0.036004 0.030211 0.005 0.036004 0.038567 -0.005 0.045963 0.038567 0.005 0.045963 0.021131 -0.005 0.045315 0.021131 0.005 0.045315 0.019863 -0.005 0.042596 0.019863 0.005 0.042596"/><mesh name="wheel_h23" vertex="0.019863 -0.005 0.042596 0.019863 0.005 0.042596 0.025357 -0.005 0.054378 0.025357 0.005 0.054378 0.008682 -0.005 0.04924 0.008682 0.005 0.04924 0.008161 -0.005 0.046286 0.008161 0.005 0.046286"/><mesh name="stop_a_h0" vertex="-0.069791 -0.005 0.008076 -0.069791 0.005 0.008076 -0.067398 -0.005 0.019835 -0.067398 0.005 0.019835 -0.054638 -0.005 0.015812 -0.054638 0.005 0.015812"/><mesh name="stop_b_h0" vertex="0.058372 -0.005 0.038636 0.058372 0.005 0.038636 0.051749 -0.005 0.048643 0.051749 0.005 0.048643 0.063617 -0.005 0.054821 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<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="0.8886782569" fullinertia="0.0006505546651 0.001283943249 0.0006505546651 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_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="wheel_h1" type="mesh" mesh="wheel_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="wheel_h2" type="mesh" mesh="wheel_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="wheel_h3" type="mesh" mesh="wheel_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="wheel_h4" type="mesh" mesh="wheel_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="wheel_h5" type="mesh" mesh="wheel_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="wheel_h6" type="mesh" mesh="wheel_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="wheel_h7" type="mesh" mesh="wheel_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="wheel_h8" type="mesh" mesh="wheel_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="wheel_h9" type="mesh" mesh="wheel_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="wheel_h10" type="mesh" mesh="wheel_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="wheel_h11" type="mesh" mesh="wheel_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"/><geom name="wheel_h12" type="mesh" mesh="wheel_h12" 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="wheel_h13" type="mesh" mesh="wheel_h13" 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="wheel_h14" type="mesh" mesh="wheel_h14" 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="wheel_h15" type="mesh" mesh="wheel_h15" 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="wheel_h16" type="mesh" mesh="wheel_h16" 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="wheel_h17" type="mesh" mesh="wheel_h17" 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="wheel_h18" type="mesh" mesh="wheel_h18" 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="wheel_h19" type="mesh" mesh="wheel_h19" 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="wheel_h20" type="mesh" mesh="wheel_h20" 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="wheel_h21" type="mesh" mesh="wheel_h21" 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="wheel_h22" type="mesh" mesh="wheel_h22" 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="wheel_h23" type="mesh" mesh="wheel_h23" 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_a" pos="0.080158 0 0.04288"><joint name="j_stop_a" 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="-0.03112939794 -0.00623103674 0.009223213463" mass="0.03680486746" fullinertia="0.000002242837487 0.00002187224281 0.00002044262796 0.000001532496142 0.000005157770606 -2.499188341e-7"/><geom name="stop_a_h0" type="mesh" mesh="stop_a_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"/></body>
<body name="stop_b" pos="-0.087073 0 0.004726"><joint name="j_stop_b" 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="0.03001084727 -0.006380639896 0.02525559744" mass="0.04172597455" fullinertia="0.00001640663701 0.00003253470116 0.00001697579969 -0.000001303193293 -0.00001528059319 -0.00000103272825"/><geom name="stop_b_h0" type="mesh" mesh="stop_b_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"/></body>
<body name="stop_c" pos="-0.026434 0 -0.059224"><joint name="j_stop_c" 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="0.2" springref="0.2"/><inertial pos="-0.00325347632 -0.00640739661 -0.002870991497" mass="0.04274846073" fullinertia="0.000001136835572 0.00001869329634 0.00001841096654 -0.000001349593143 -0.000001202769458 -1.121589505e-7"/><geom name="stop_c_h0" type="mesh" mesh="stop_c_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"/></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_wheel" kv="20" forcerange="-30 30"/></actuator>
</mujoco>
