<mujoco model="487-common-paddle-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="wheel_h0" vertex="0.07493 0.003 0.012865 0.07493 0.025 0.012865 0.103373 0.003 0.018523 0.103373 0.025 0.018523 0.102592 0.003 0.022446 0.102592 0.025 0.022446 0.07415 0.003 0.016788 0.07415 0.025 0.016788"/><mesh name="wheel_h1" vertex="0.043886 0.003 0.062081 0.043886 0.025 0.062081 0.059998 0.003 0.086193 0.059998 0.025 0.086193 0.056672 0.003 0.088415 0.056672 0.025 0.088415 0.04056 0.003 0.064303 0.04056 0.025 0.064303"/><mesh name="wheel_h2" vertex="-0.012865 0.003 0.07493 -0.012865 0.025 0.07493 -0.018523 0.003 0.103373 -0.018523 0.025 0.103373 -0.022446 0.003 0.102592 -0.022446 0.025 0.102592 -0.016788 0.003 0.07415 -0.016788 0.025 0.07415"/><mesh name="wheel_h3" vertex="-0.062081 0.003 0.043886 -0.062081 0.025 0.043886 -0.086193 0.003 0.059998 -0.086193 0.025 0.059998 -0.088415 0.003 0.056672 -0.088415 0.025 0.056672 -0.064303 0.003 0.04056 -0.064303 0.025 0.04056"/><mesh name="wheel_h4" vertex="-0.07493 0.003 -0.012865 -0.07493 0.025 -0.012865 -0.103373 0.003 -0.018523 -0.103373 0.025 -0.018523 -0.102592 0.003 -0.022446 -0.102592 0.025 -0.022446 -0.07415 0.003 -0.016788 -0.07415 0.025 -0.016788"/><mesh name="wheel_h5" vertex="-0.043886 0.003 -0.062081 -0.043886 0.025 -0.062081 -0.059998 0.003 -0.086193 -0.059998 0.025 -0.086193 -0.056672 0.003 -0.088415 -0.056672 0.025 -0.088415 -0.04056 0.003 -0.064303 -0.04056 0.025 -0.064303"/><mesh name="wheel_h6" vertex="0.012865 0.003 -0.07493 0.012865 0.025 -0.07493 0.018523 0.003 -0.103373 0.018523 0.025 -0.103373 0.022446 0.003 -0.102592 0.022446 0.025 -0.102592 0.016788 0.003 -0.07415 0.016788 0.025 -0.07415"/><mesh name="wheel_h7" vertex="0.062081 0.003 -0.043886 0.062081 0.025 -0.043886 0.086193 0.003 -0.059998 0.086193 0.025 -0.059998 0.088415 0.003 -0.056672 0.088415 0.025 -0.056672 0.064303 0.003 -0.04056 0.064303 0.025 -0.04056"/><mesh name="basin_h0" vertex="-1.01 -0.005 -0.015 -1.01 0.03 -0.015 0.96 -0.005 -0.015 0.96 0.03 -0.015 0.96 -0.005 0 0.96 0.03 0 -1.01 -0.005 0 -1.01 0.03 0"/><mesh name="basin_h1" vertex="-1.01 -0.005 0 -1.01 0.03 0 -1 -0.005 0 -1 0.03 0 -1 -0.005 0.12 -1 0.03 0.12 -1.01 -0.005 0.12 -1.01 0.03 0.12"/><mesh name="basin_h2" vertex="0.95 -0.005 0 0.95 0.03 0 0.96 -0.005 0 0.96 0.03 0 0.96 -0.005 0.12 0.96 0.03 0.12 0.95 -0.005 0.12 0.95 0.03 0.12"/></asset>
<size memory="64M"/>
<worldbody>
<body name="vessel" pos="-0.6 0 0.153"><joint name="j_v" type="slide" axis="1 0 0" damping="0.6" frictionloss="0"/><inertial pos="-0.05538681496 0.08895927569 -0.02842766299" mass="3" fullinertia="0.008016104952 0.09472042331 0.09193789837 0.0001559481716 -0.001182457125 0.0002856107322"/><body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 0.01491094885 0" mass="0.06674483156" fullinertia="0.0001561145811 0.0003073424841 0.0001561145811 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h1" type="mesh" mesh="wheel_h1" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h2" type="mesh" mesh="wheel_h2" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h3" type="mesh" mesh="wheel_h3" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h4" type="mesh" mesh="wheel_h4" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h5" type="mesh" mesh="wheel_h5" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h6" type="mesh" mesh="wheel_h6" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h7" type="mesh" mesh="wheel_h7" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="basin" pos="0 0 0"><geom name="basin_h0" type="mesh" mesh="basin_h0" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="basin_h1" type="mesh" mesh="basin_h1" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="basin_h2" type="mesh" mesh="basin_h2" contype="16" conaffinity="8" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="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_w" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
