<mujoco model="370-mirror-polishing-motion">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="wheel_h0" vertex="0.043572 -0.02 0.006124 0.043572 -0.01 0.006124 0.061397 -0.02 0.008629 0.061397 -0.01 0.008629 0.046025 -0.02 0.019537 0.046025 -0.01 0.019537 0.040502 -0.02 0.017192 0.040502 -0.01 0.017192"/><mesh name="wheel_h1" vertex="0.040502 -0.02 0.017192 0.040502 -0.01 0.017192 0.057071 -0.02 0.024225 0.057071 -0.01 0.024225 0.039401 -0.02 0.030783 0.039401 -0.01 0.030783 0.034672 -0.02 0.027089 0.034672 -0.01 0.027089"/><mesh name="wheel_h2" vertex="0.034672 -0.02 0.027089 0.034672 -0.01 0.027089 0.048857 -0.02 0.038171 0.048857 -0.01 0.038171 0.030091 -0.02 0.039932 0.030091 -0.01 0.039932 0.02648 -0.02 0.03514 0.02648 -0.01 0.03514"/><mesh name="wheel_h3" vertex="0.02648 -0.02 0.03514 0.02648 -0.01 0.03514 0.037313 -0.02 0.049515 0.037313 -0.01 0.049515 0.01873 -0.02 0.046359 0.01873 -0.01 0.046359 0.016483 -0.02 0.040796 0.016483 -0.01 0.040796"/><mesh name="wheel_h4" vertex="0.016483 -0.02 0.040796 0.016483 -0.01 0.040796 0.023226 -0.02 0.057485 0.023226 -0.01 0.057485 0.006093 -0.02 0.049627 0.006093 -0.01 0.049627 0.005362 -0.02 0.043672 0.005362 -0.01 0.043672"/><mesh name="wheel_h5" vertex="0.005362 -0.02 0.043672 0.005362 -0.01 0.043672 0.007556 -0.02 0.061538 0.007556 -0.01 0.061538 -0.006959 -0.02 0.049513 -0.006959 -0.01 0.049513 -0.006124 -0.02 0.043572 -0.006124 -0.01 0.043572"/><mesh name="wheel_h6" vertex="-0.006124 -0.02 0.043572 -0.006124 -0.01 0.043572 -0.008629 -0.02 0.061397 -0.008629 -0.01 0.061397 -0.019537 -0.02 0.046025 -0.019537 -0.01 0.046025 -0.017192 -0.02 0.040502 -0.017192 -0.01 0.040502"/><mesh name="wheel_h7" vertex="-0.017192 -0.02 0.040502 -0.017192 -0.01 0.040502 -0.024225 -0.02 0.057071 -0.024225 -0.01 0.057071 -0.030783 -0.02 0.039401 -0.030783 -0.01 0.039401 -0.027089 -0.02 0.034672 -0.027089 -0.01 0.034672"/><mesh name="wheel_h8" vertex="-0.027089 -0.02 0.034672 -0.027089 -0.01 0.034672 -0.038171 -0.02 0.048857 -0.038171 -0.01 0.048857 -0.039932 -0.02 0.030091 -0.039932 -0.01 0.030091 -0.03514 -0.02 0.02648 -0.03514 -0.01 0.02648"/><mesh name="wheel_h9" vertex="-0.03514 -0.02 0.02648 -0.03514 -0.01 0.02648 -0.049515 -0.02 0.037313 -0.049515 -0.01 0.037313 -0.046359 -0.02 0.01873 -0.046359 -0.01 0.01873 -0.040796 -0.02 0.016483 -0.040796 -0.01 0.016483"/><mesh name="wheel_h10" vertex="-0.040796 -0.02 0.016483 -0.040796 -0.01 0.016483 -0.057485 -0.02 0.023226 -0.057485 -0.01 0.023226 -0.049627 -0.02 0.006093 -0.049627 -0.01 0.006093 -0.043672 -0.02 0.005362 -0.043672 -0.01 0.005362"/><mesh name="wheel_h11" vertex="-0.043672 -0.02 0.005362 -0.043672 -0.01 0.005362 -0.061538 -0.02 0.007556 -0.061538 -0.01 0.007556 -0.049513 -0.02 -0.006959 -0.049513 -0.01 -0.006959 -0.043572 -0.02 -0.006124 -0.043572 -0.01 -0.006124"/><mesh name="wheel_h12" vertex="-0.043572 -0.02 -0.006124 -0.043572 -0.01 -0.006124 -0.061397 -0.02 -0.008629 -0.061397 -0.01 -0.008629 -0.046025 -0.02 -0.019537 -0.046025 -0.01 -0.019537 -0.040502 -0.02 -0.017192 -0.040502 -0.01 -0.017192"/><mesh name="wheel_h13" vertex="-0.040502 -0.02 -0.017192 -0.040502 -0.01 -0.017192 -0.057071 -0.02 -0.024225 -0.057071 -0.01 -0.024225 -0.039401 -0.02 -0.030783 -0.039401 -0.01 -0.030783 -0.034672 -0.02 -0.027089 -0.034672 -0.01 -0.027089"/><mesh name="wheel_h14" vertex="-0.034672 -0.02 -0.027089 -0.034672 -0.01 -0.027089 -0.048857 -0.02 -0.038171 -0.048857 -0.01 -0.038171 -0.030091 -0.02 -0.039932 -0.030091 -0.01 -0.039932 -0.02648 -0.02 -0.03514 -0.02648 -0.01 -0.03514"/><mesh name="wheel_h15" vertex="-0.02648 -0.02 -0.03514 -0.02648 -0.01 -0.03514 -0.037313 -0.02 -0.049515 -0.037313 -0.01 -0.049515 -0.01873 -0.02 -0.046359 -0.01873 -0.01 -0.046359 -0.016483 -0.02 -0.040796 -0.016483 -0.01 -0.040796"/><mesh name="wheel_h16" vertex="-0.016483 -0.02 -0.040796 -0.016483 -0.01 -0.040796 -0.023226 -0.02 -0.057485 -0.023226 -0.01 -0.057485 -0.006093 -0.02 -0.049627 -0.006093 -0.01 -0.049627 -0.005362 -0.02 -0.043672 -0.005362 -0.01 -0.043672"/><mesh name="wheel_h17" vertex="-0.005362 -0.02 -0.043672 -0.005362 -0.01 -0.043672 -0.007556 -0.02 -0.061538 -0.007556 -0.01 -0.061538 0.006959 -0.02 -0.049513 0.006959 -0.01 -0.049513 0.006124 -0.02 -0.043572 0.006124 -0.01 -0.043572"/><mesh name="wheel_h18" vertex="0.006124 -0.02 -0.043572 0.006124 -0.01 -0.043572 0.008629 -0.02 -0.061397 0.008629 -0.01 -0.061397 0.019537 -0.02 -0.046025 0.019537 -0.01 -0.046025 0.017192 -0.02 -0.040502 0.017192 -0.01 -0.040502"/><mesh name="wheel_h19" vertex="0.017192 -0.02 -0.040502 0.017192 -0.01 -0.040502 0.024225 -0.02 -0.057071 0.024225 -0.01 -0.057071 0.030783 -0.02 -0.039401 0.030783 -0.01 -0.039401 0.027089 -0.02 -0.034672 0.027089 -0.01 -0.034672"/><mesh name="wheel_h20" vertex="0.027089 -0.02 -0.034672 0.027089 -0.01 -0.034672 0.038171 -0.02 -0.048857 0.038171 -0.01 -0.048857 0.039932 -0.02 -0.030091 0.039932 -0.01 -0.030091 0.03514 -0.02 -0.02648 0.03514 -0.01 -0.02648"/><mesh name="wheel_h21" vertex="0.03514 -0.02 -0.02648 0.03514 -0.01 -0.02648 0.049515 -0.02 -0.037313 0.049515 -0.01 -0.037313 0.046359 -0.02 -0.01873 0.046359 -0.01 -0.01873 0.040796 -0.02 -0.016483 0.040796 -0.01 -0.016483"/><mesh name="wheel_h22" vertex="0.040796 -0.02 -0.016483 0.040796 -0.01 -0.016483 0.057485 -0.02 -0.023226 0.057485 -0.01 -0.023226 0.049627 -0.02 -0.006093 0.049627 -0.01 -0.006093 0.043672 -0.02 -0.005362 0.043672 -0.01 -0.005362"/><mesh name="wheel_h23" vertex="0.043672 -0.02 -0.005362 0.043672 -0.01 -0.005362 0.061538 -0.02 -0.007556 0.061538 -0.01 -0.007556 0.049513 -0.02 0.006959 0.049513 -0.01 0.006959 0.043572 -0.02 0.006124 0.043572 -0.01 0.006124"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.001664235713 0.01672259603 -0.001872269871" mass="0.9230772007" fullinertia="0.001393033854 0.001556385546 0.001226066536 0.00008591469746 0.0003147832795 -0.0002161631151"/><body name="rod" pos="0.017535 0 -0.035952"><joint name="j_e" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.01592667647 -0.035 -0.07582091533" mass="0.05" fullinertia="0.0003822665601 0.0004010395222 0.00001922972257 0 0.00007977836886 0"/></body>
</body>
<body name="guide" pos="0 0 -0.4"><joint name="j_g" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.014 0" mass="0.05" fullinertia="0.00001146666667 0.0000082125 0.00001927916667 0 0 0"/><body name="bar" pos="0 0 0.36"><joint name="j_b" type="slide" axis="0 0 1" damping="0.005" frictionloss="0" range="-0.015 0.095" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.001729560413 -0.0002668230278 -0.2359987442" mass="0.1794809594" fullinertia="0.003387236701 0.003408681926 0.00002707451442 -0.000001179107368 -0.000009750160517 -0.00000125981272"/><body name="wheel" pos="0 0 -0.26"><joint name="j_w" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0.02"/><inertial pos="0 0.001974413903 0" mass="0.5067391457" fullinertia="0.0009095028585 0.001624161502 0.0009095028585 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="8" conaffinity="16" 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"/><geom name="wheel_h1" type="mesh" mesh="wheel_h1" contype="8" conaffinity="16" 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"/><geom name="wheel_h2" type="mesh" mesh="wheel_h2" contype="8" conaffinity="16" 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"/><geom name="wheel_h3" type="mesh" mesh="wheel_h3" contype="8" conaffinity="16" 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"/><geom name="wheel_h4" type="mesh" mesh="wheel_h4" contype="8" conaffinity="16" 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"/><geom name="wheel_h5" type="mesh" mesh="wheel_h5" contype="8" conaffinity="16" 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"/><geom name="wheel_h6" type="mesh" mesh="wheel_h6" contype="8" conaffinity="16" 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"/><geom name="wheel_h7" type="mesh" mesh="wheel_h7" contype="8" conaffinity="16" 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"/><geom name="wheel_h8" type="mesh" mesh="wheel_h8" contype="8" conaffinity="16" 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"/><geom name="wheel_h9" type="mesh" mesh="wheel_h9" contype="8" conaffinity="16" 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"/><geom name="wheel_h10" type="mesh" mesh="wheel_h10" contype="8" conaffinity="16" 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"/><geom name="wheel_h11" type="mesh" mesh="wheel_h11" contype="8" conaffinity="16" 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"/><geom name="wheel_h12" type="mesh" mesh="wheel_h12" contype="8" conaffinity="16" 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"/><geom name="wheel_h13" type="mesh" mesh="wheel_h13" contype="8" conaffinity="16" 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"/><geom name="wheel_h14" type="mesh" mesh="wheel_h14" contype="8" conaffinity="16" 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"/><geom name="wheel_h15" type="mesh" mesh="wheel_h15" contype="8" conaffinity="16" 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"/><geom name="wheel_h16" type="mesh" mesh="wheel_h16" contype="8" conaffinity="16" 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"/><geom name="wheel_h17" type="mesh" mesh="wheel_h17" contype="8" conaffinity="16" 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"/><geom name="wheel_h18" type="mesh" mesh="wheel_h18" contype="8" conaffinity="16" 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"/><geom name="wheel_h19" type="mesh" mesh="wheel_h19" contype="8" conaffinity="16" 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"/><geom name="wheel_h20" type="mesh" mesh="wheel_h20" contype="8" conaffinity="16" 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"/><geom name="wheel_h21" type="mesh" mesh="wheel_h21" contype="8" conaffinity="16" 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"/><geom name="wheel_h22" type="mesh" mesh="wheel_h22" contype="8" conaffinity="16" 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"/><geom name="wheel_h23" type="mesh" mesh="wheel_h23" contype="8" conaffinity="16" 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="lever" pos="0 0 -0.26"><joint name="j_l" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.04467181145 -0.02672988302 -0.006393086271" mass="0.04" fullinertia="0.000003764139093 0.000026876107 0.00002367837873 8.270505529e-7 0.000002176157718 1.866482047e-7"/><body name="click" pos="0.079874 0 -0.029072"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.5 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.03" springref="0.15"/><inertial pos="-0.01573674605 -0.0238767747 0.02115709054" mass="0.01" fullinertia="0.000001464021972 0.000001961318196 9.065539651e-7 2.005652542e-7 9.281328001e-7 -2.696476914e-7"/><geom name="click_h0" type="capsule" fromto="-0.025183 -0.026 0.033857 -0.025183 -0.009 0.033857" size="0.002" 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>
<body name="detent" pos="-0.084677 0 -0.267408"><joint name="j_d" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0" range="-0.5 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.03" springref="0.15"/><inertial pos="0.02119034008 -0.02380035104 -0.01387303897" mass="0.01" fullinertia="7.518258243e-7 0.00000179095912 0.000001458888753 -2.744647172e-7 8.101452824e-7 1.796884667e-7"/><geom name="detent_h0" type="capsule" fromto="0.033668 -0.026 -0.022042 0.033668 -0.009 -0.022042" size="0.002" 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>
</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_pin" body1="bar" body2="crank" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rod" body1="rod" body2="lever" anchor="0.055465 -0.03 -0.264048" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="bar" body2="crank"/><exclude body1="rod" body2="lever"/></contact>
<actuator><velocity name="drive" joint="j_c" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
