<mujoco model="489-vertical-bucket-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="bk0_h0" vertex="0.00225 0.003 -0.035 0.00225 0.025 -0.035 0.00225 0.003 0.035 0.00225 0.025 0.035 -0.00225 0.003 0.035 -0.00225 0.025 0.035 -0.00225 0.003 -0.035 -0.00225 0.025 -0.035"/><mesh name="bk1_h0" vertex="0.00225 0.003 -0.035 0.00225 0.025 -0.035 0.00225 0.003 0.035 0.00225 0.025 0.035 -0.00225 0.003 0.035 -0.00225 0.025 0.035 -0.00225 0.003 -0.035 -0.00225 0.025 -0.035"/><mesh name="bk2_h0" vertex="0.00225 0.003 -0.035 0.00225 0.025 -0.035 0.00225 0.003 0.035 0.00225 0.025 0.035 -0.00225 0.003 0.035 -0.00225 0.025 0.035 -0.00225 0.003 -0.035 -0.00225 0.025 -0.035"/><mesh name="bk3_h0" vertex="0.00225 0.003 -0.035 0.00225 0.025 -0.035 0.00225 0.003 0.035 0.00225 0.025 0.035 -0.00225 0.003 0.035 -0.00225 0.025 0.035 -0.00225 0.003 -0.035 -0.00225 0.025 -0.035"/><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 0.16"><joint name="j_v" type="slide" axis="1 0 0" damping="0.6" frictionloss="0"/><inertial pos="-0.05477914603 0.08848094764 -0.03131403062" mass="3" fullinertia="0.008753001929 0.09512010406 0.09182541773 0.0002950439037 -0.001382372243 0.0003793137064"/><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 -0.002307306622 0" mass="0.07498154562" fullinertia="0.00007479250482 0.0001342366189 0.00007479250482 0 0 0"/><body name="bk0" pos="0.06364 0 0.06364"><joint name="j_b0" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.002788128896 -0.001297796117 0" mass="0.009911906744" fullinertia="0.000005925651885 0.000002555478446 0.000004444567343 7.517512278e-7 0 0"/><geom name="bk0_h0" type="mesh" mesh="bk0_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"/></body>
<body name="bk1" pos="-0.06364 0 0.06364"><joint name="j_b1" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.002788128896 -0.001297796117 0" mass="0.009911906744" fullinertia="0.000005925651885 0.000002555478446 0.000004444567343 7.517512278e-7 0 0"/><geom name="bk1_h0" type="mesh" mesh="bk1_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"/></body>
<body name="bk2" pos="-0.06364 0 -0.06364"><joint name="j_b2" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.002788128896 -0.001297796117 0" mass="0.009911906744" fullinertia="0.000005925651885 0.000002555478446 0.000004444567343 7.517512278e-7 0 0"/><geom name="bk2_h0" type="mesh" mesh="bk2_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"/></body>
<body name="bk3" pos="0.06364 0 -0.06364"><joint name="j_b3" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.002788128896 -0.001297796117 0" mass="0.009911906744" fullinertia="0.000005925651885 0.000002555478446 0.000004444567343 7.517512278e-7 0 0"/><geom name="bk3_h0" type="mesh" mesh="bk3_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"/></body>
</body>
<body name="ring" pos="0.025 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 -0.02 0" mass="0.03484440623" fullinertia="0.00004053638595 0.00008070109824 0.00004053638595 0 0 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><connect name="p_c0" body1="bk0" body2="ring" anchor="0.025 -0.02 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_c1" body1="bk1" body2="ring" anchor="0.025 -0.02 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_c2" body1="bk2" body2="ring" anchor="0.025 -0.02 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_c3" body1="bk3" body2="ring" anchor="0.025 -0.02 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="bk0" body2="ring"/><exclude body1="bk1" body2="ring"/><exclude body1="bk2" body2="ring"/><exclude body1="bk3" body2="ring"/></contact>
<actuator><velocity name="drive" joint="j_w" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
