<mujoco model="280-windlass-friction-lever">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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mass="0"/><geom name="wheel_h127" type="mesh" mesh="wheel_h127" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h128" type="mesh" mesh="wheel_h128" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h129" type="mesh" mesh="wheel_h129" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h130" type="mesh" mesh="wheel_h130" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h131" type="mesh" mesh="wheel_h131" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h132" type="mesh" mesh="wheel_h132" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h133" type="mesh" mesh="wheel_h133" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h134" type="mesh" mesh="wheel_h134" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h135" type="mesh" mesh="wheel_h135" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h136" type="mesh" mesh="wheel_h136" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h137" type="mesh" mesh="wheel_h137" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h138" type="mesh" mesh="wheel_h138" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h139" type="mesh" mesh="wheel_h139" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h140" type="mesh" mesh="wheel_h140" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h141" type="mesh" mesh="wheel_h141" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h142" type="mesh" mesh="wheel_h142" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h143" type="mesh" mesh="wheel_h143" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h144" type="mesh" mesh="wheel_h144" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h145" type="mesh" mesh="wheel_h145" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h146" type="mesh" mesh="wheel_h146" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h147" type="mesh" mesh="wheel_h147" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h148" type="mesh" mesh="wheel_h148" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h149" type="mesh" mesh="wheel_h149" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h150" type="mesh" mesh="wheel_h150" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h151" type="mesh" mesh="wheel_h151" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h152" type="mesh" mesh="wheel_h152" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h153" type="mesh" mesh="wheel_h153" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h154" type="mesh" mesh="wheel_h154" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h155" type="mesh" mesh="wheel_h155" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h156" type="mesh" mesh="wheel_h156" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h157" type="mesh" mesh="wheel_h157" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h158" type="mesh" mesh="wheel_h158" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h159" type="mesh" mesh="wheel_h159" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h160" type="mesh" mesh="wheel_h160" contype="8" conaffinity="16" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h161" type="mesh" mesh="wheel_h161" contype="8" conaffinity="16" condim="3" friction="0.7 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"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.041 -0.015 0" mass="0.05" fullinertia="1.5625e-7 0.00002809479167 0.00002809479167 0 0 0"/><body name="block" pos="0.1 0 0"><joint name="j_r" type="slide" axis="1 0 0" damping="0.01" frictionloss="0" range="-0.001 0.001" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.00548785223 -0.0001375069868 -0.003946481656" mass="0.25" fullinertia="0.00003729343899 0.00006188968296 0.00005767203233 -6.35552213e-7 7.74730356e-7 1.356672002e-7"/><geom name="block_h0" type="capsule" fromto="-0.013 -0.009 0 -0.013 0.009 0" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="lever" pos="0.012 0 -0.012"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0" range="-0.3 0.08" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01431363227 0 0.002723707989" mass="0.1" fullinertia="0.000002397986839 0.00003458134793 0.00003262659775 0 0.000005739933478 0"/><geom name="lever_h0" type="capsule" fromto="-0.008 -0.0045 0.012 -0.008 0.0045 0.012" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.7 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</body>
<body name="hand" pos="0.22 0 -0.06"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.0223204716 -0.018 0" mass="0.4" fullinertia="0.000002812629511 0.000885635116 0.0008857244337 0 0 0"/><body name="link" pos="-0.06 0 0"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.013 0.024" mass="0.03" fullinertia="0.0000057843 0.0000057843 4.86e-8 0 0 0"/></body>
</body>
<body name="pawl" pos="-0.06 0 0.04"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="-0.3 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.02" springref="-0.15"/><inertial pos="0.00601000148 0.016 -0.02289524374" mass="0.03" fullinertia="0.000004949997488 0.000005272539215 3.995730205e-7 0 0.000001282885233 0"/><geom name="pawl_h0" type="capsule" fromto="0.0105 0.0125 -0.04 0.0105 0.0195 -0.04" size="0.0018" contype="16" conaffinity="8" condim="3" friction="0.2 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><connect name="p_link" body1="link" body2="lever" anchor="0 -0.013 0.048" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="lever"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="50" forcerange="-100 100"/></actuator>
</mujoco>
