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group="2" mass="0"/><geom name="wheel_h76" type="mesh" mesh="wheel_h76" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h77" type="mesh" mesh="wheel_h77" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h78" type="mesh" mesh="wheel_h78" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h79" type="mesh" mesh="wheel_h79" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h80" type="mesh" mesh="wheel_h80" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h81" type="mesh" mesh="wheel_h81" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h82" type="mesh" mesh="wheel_h82" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h83" type="mesh" mesh="wheel_h83" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h84" type="mesh" mesh="wheel_h84" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h85" type="mesh" mesh="wheel_h85" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h86" type="mesh" mesh="wheel_h86" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h87" type="mesh" mesh="wheel_h87" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h88" type="mesh" mesh="wheel_h88" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h89" type="mesh" mesh="wheel_h89" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h90" type="mesh" mesh="wheel_h90" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h91" type="mesh" mesh="wheel_h91" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h92" type="mesh" mesh="wheel_h92" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h93" type="mesh" mesh="wheel_h93" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h94" type="mesh" mesh="wheel_h94" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h95" type="mesh" mesh="wheel_h95" contype="16" conaffinity="8" condim="3" friction="0.9 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"><joint name="j_A" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.00002070211756 -0.00004403795799 -0.0260041172" mass="0.15" fullinertia="0.00007877587269 0.0001191894825 0.0000413954467 2.236635447e-8 -1.470134111e-7 3.382082369e-7"/><body name="pawl_c" pos="0.0225 -0.006 0"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" stiffness="0.1" springref="-0.024"/><inertial pos="0.02545451065 0 0.01782333608" mass="0.02" fullinertia="0.00000346295975 0.00001029578347 0.000006926541048 0 -0.000004758002514 0"/><geom name="pawl_c_h0" type="mesh" mesh="pawl_c_h0" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="pawl_b" pos="-0.0225 -0.006 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" stiffness="0.1" springref="0"/><inertial pos="-0.01238412252 0 0.02849901711" mass="0.02" fullinertia="0.000008649593378 0.00001029574081 0.00000173986556 0 0.000003701553452 0"/><geom name="pawl_b_h0" type="mesh" mesh="pawl_b_h0" contype="8" conaffinity="16" condim="3" friction="0.9 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="hand" pos="0.17 0 -0.068"><joint name="j_h" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 -0.006 0" mass="0.1" fullinertia="9.25e-7 0.00000125 9.25e-7 0 0 0"/><body name="rod" pos="0 -0.006 0"><joint name="j_rod" type="hinge" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="-0.09006468943 0 0" mass="0.05" fullinertia="3.233536133e-7 0.0001337304385 0.0001336154182 0 0 0"/></body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_rod" body1="rod" body2="lever" anchor="-0.17 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="lever"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="200" forcerange="-50 50"/></actuator>
</mujoco>
