<mujoco model="241-one-tooth-wheel">
<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="wheel_a_h0" vertex="-0.009772 -0.005 0.045973 -0.009772 0.005 0.045973 -0.012475 -0.005 0.058689 -0.012475 0.005 0.058689 0.005226 -0.005 0.049726 0.005226 0.005 0.049726 0.004913 -0.005 0.046743 0.004913 0.005 0.046743"/><mesh name="wheel_a_h1" vertex="-0.0235 -0.005 0.040703 -0.0235 0.005 0.040703 -0.03 -0.005 0.051962 -0.03 0.005 0.051962 -0.010396 -0.005 0.048907 -0.010396 0.005 0.048907 -0.009772 -0.005 0.045973 -0.009772 0.005 0.045973"/><mesh name="wheel_a_h2" vertex="-0.034928 -0.005 0.031449 -0.034928 0.005 0.031449 -0.044589 -0.005 0.040148 -0.044589 0.005 0.040148 -0.025 -0.005 0.043301 -0.025 0.005 0.043301 -0.0235 -0.005 0.040703 -0.0235 0.005 0.040703"/><mesh name="wheel_a_h3" vertex="-0.042937 -0.005 0.019117 -0.042937 0.005 0.019117 -0.054813 -0.005 0.024404 -0.054813 0.005 0.024404 -0.037157 -0.005 0.033457 -0.037157 0.005 0.033457 -0.034928 -0.005 0.031449 -0.034928 0.005 0.031449"/><mesh name="wheel_a_h4" vertex="-0.046743 -0.005 0.004913 -0.046743 0.005 0.004913 -0.059671 -0.005 0.006272 -0.059671 0.005 0.006272 -0.045677 -0.005 0.020337 -0.045677 0.005 0.020337 -0.042937 -0.005 0.019117 -0.042937 0.005 0.019117"/><mesh name="wheel_a_h5" vertex="-0.045973 -0.005 -0.009772 -0.045973 0.005 -0.009772 -0.058689 -0.005 -0.012475 -0.058689 0.005 -0.012475 -0.049726 -0.005 0.005226 -0.049726 0.005 0.005226 -0.046743 -0.005 0.004913 -0.046743 0.005 0.004913"/><mesh name="wheel_a_h6" vertex="-0.040703 -0.005 -0.0235 -0.040703 0.005 -0.0235 -0.051962 -0.005 -0.03 -0.051962 0.005 -0.03 -0.048907 -0.005 -0.010396 -0.048907 0.005 -0.010396 -0.045973 -0.005 -0.009772 -0.045973 0.005 -0.009772"/><mesh name="wheel_a_h7" vertex="-0.031449 -0.005 -0.034928 -0.031449 0.005 -0.034928 -0.040148 -0.005 -0.044589 -0.040148 0.005 -0.044589 -0.043301 -0.005 -0.025 -0.043301 0.005 -0.025 -0.040703 -0.005 -0.0235 -0.040703 0.005 -0.0235"/><mesh name="wheel_a_h8" vertex="-0.019117 -0.005 -0.042937 -0.019117 0.005 -0.042937 -0.024404 -0.005 -0.054813 -0.024404 0.005 -0.054813 -0.033457 -0.005 -0.037157 -0.033457 0.005 -0.037157 -0.031449 -0.005 -0.034928 -0.031449 0.005 -0.034928"/><mesh name="wheel_a_h9" vertex="-0.004913 -0.005 -0.046743 -0.004913 0.005 -0.046743 -0.006272 -0.005 -0.059671 -0.006272 0.005 -0.059671 -0.020337 -0.005 -0.045677 -0.020337 0.005 -0.045677 -0.019117 -0.005 -0.042937 -0.019117 0.005 -0.042937"/><mesh name="wheel_a_h10" vertex="0.009772 -0.005 -0.045973 0.009772 0.005 -0.045973 0.012475 -0.005 -0.058689 0.012475 0.005 -0.058689 -0.005226 -0.005 -0.049726 -0.005226 0.005 -0.049726 -0.004913 -0.005 -0.046743 -0.004913 0.005 -0.046743"/><mesh name="wheel_a_h11" vertex="0.0235 -0.005 -0.040703 0.0235 0.005 -0.040703 0.03 -0.005 -0.051962 0.03 0.005 -0.051962 0.010396 -0.005 -0.048907 0.010396 0.005 -0.048907 0.009772 -0.005 -0.045973 0.009772 0.005 -0.045973"/><mesh name="wheel_a_h12" vertex="0.034928 -0.005 -0.031449 0.034928 0.005 -0.031449 0.044589 -0.005 -0.040148 0.044589 0.005 -0.040148 0.025 -0.005 -0.043301 0.025 0.005 -0.043301 0.0235 -0.005 -0.040703 0.0235 0.005 -0.040703"/><mesh name="wheel_a_h13" vertex="0.042937 -0.005 -0.019117 0.042937 0.005 -0.019117 0.054813 -0.005 -0.024404 0.054813 0.005 -0.024404 0.037157 -0.005 -0.033457 0.037157 0.005 -0.033457 0.034928 -0.005 -0.031449 0.034928 0.005 -0.031449"/><mesh name="wheel_a_h14" vertex="0.046743 -0.005 -0.004913 0.046743 0.005 -0.004913 0.059671 -0.005 -0.006272 0.059671 0.005 -0.006272 0.045677 -0.005 -0.020337 0.045677 0.005 -0.020337 0.042937 -0.005 -0.019117 0.042937 0.005 -0.019117"/><mesh name="wheel_a_h15" vertex="0.045973 -0.005 0.009772 0.045973 0.005 0.009772 0.058689 -0.005 0.012475 0.058689 0.005 0.012475 0.049726 -0.005 -0.005226 0.049726 0.005 -0.005226 0.046743 -0.005 -0.004913 0.046743 0.005 -0.004913"/><mesh name="wheel_a_h16" vertex="0.040703 -0.005 0.0235 0.040703 0.005 0.0235 0.051962 -0.005 0.03 0.051962 0.005 0.03 0.048907 -0.005 0.010396 0.048907 0.005 0.010396 0.045973 -0.005 0.009772 0.045973 0.005 0.009772"/><mesh name="wheel_a_h17" vertex="0.031449 -0.005 0.034928 0.031449 0.005 0.034928 0.040148 -0.005 0.044589 0.040148 0.005 0.044589 0.043301 -0.005 0.025 0.043301 0.005 0.025 0.040703 -0.005 0.0235 0.040703 0.005 0.0235"/><mesh name="wheel_a_h18" vertex="0.019117 -0.005 0.042937 0.019117 0.005 0.042937 0.024404 -0.005 0.054813 0.024404 0.005 0.054813 0.033457 -0.005 0.037157 0.033457 0.005 0.037157 0.031449 -0.005 0.034928 0.031449 0.005 0.034928"/><mesh name="wheel_a_h19" vertex="0.004913 -0.005 0.046743 0.004913 0.005 0.046743 0.006272 -0.005 0.059671 0.006272 0.005 0.059671 0.020337 -0.005 0.045677 0.020337 0.005 0.045677 0.019117 -0.005 0.042937 0.019117 0.005 0.042937"/><mesh name="click_h0" vertex="0.064605 -0.005 0.009339 0.064605 0.005 0.009339 0.061803 -0.005 0.021008 0.061803 0.005 0.021008 0.046796 -0.005 0.015337 0.046796 0.005 0.015337"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0.002"/><inertial pos="0 0 0" mass="0.8877056612" fullinertia="0.000648034864 0.001278919857 0.000648034864 0 0 0"/><geom name="wheel_a_h0" type="mesh" mesh="wheel_a_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_a_h1" type="mesh" mesh="wheel_a_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_a_h2" type="mesh" mesh="wheel_a_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_a_h3" type="mesh" mesh="wheel_a_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_a_h4" type="mesh" mesh="wheel_a_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_a_h5" type="mesh" mesh="wheel_a_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_a_h6" type="mesh" mesh="wheel_a_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_a_h7" type="mesh" mesh="wheel_a_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_a_h8" type="mesh" mesh="wheel_a_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_a_h9" type="mesh" mesh="wheel_a_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_a_h10" type="mesh" mesh="wheel_a_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_a_h11" type="mesh" mesh="wheel_a_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_a_h12" type="mesh" mesh="wheel_a_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_a_h13" type="mesh" mesh="wheel_a_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_a_h14" type="mesh" mesh="wheel_a_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_a_h15" type="mesh" mesh="wheel_a_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_a_h16" type="mesh" mesh="wheel_a_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_a_h17" type="mesh" mesh="wheel_a_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_a_h18" type="mesh" mesh="wheel_a_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_a_h19" type="mesh" mesh="wheel_a_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"/></body>
<body name="driver" pos="-0.071598 0 -0.033387"><joint name="j_driver" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0009319408181 0.005736694611 -0.000652094167" mass="0.1293208767" fullinertia="0.00002429805867 0.00004126731998 0.00002539859402 -0.000001403748052 -0.00000108145963 -0.000001026933359"/><geom name="driver_h0" type="capsule" fromto="-0.022205 -0.01 -0.010354 -0.022205 0.006 -0.010354" size="0.002" 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="click" pos="-0.076744 0 0.041224"><joint name="j_click" 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="0.2" springref="-0.2"/><inertial pos="0.02538975637 -0.006041669675 0.01084457277" mass="0.03831059078" fullinertia="0.00000310335844 0.00002168127428 0.00001950574921 -0.000001807093847 -0.000005376673241 -2.448998716e-7"/><geom name="click_h0" type="mesh" mesh="click_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_driver" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
