<mujoco model="82-double-treadle-ratchet">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0.3"><joint name="j_wheel" type="hinge" axis="0 1 0" damping="0.06" frictionloss="0"/><inertial pos="0 0.002545626188 0" mass="5.25311229" fullinertia="0.01124132096 0.02128630307 0.01124132096 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 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="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h8" type="mesh" mesh="wheel_h8" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h9" type="mesh" mesh="wheel_h9" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h10" type="mesh" mesh="wheel_h10" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h11" type="mesh" mesh="wheel_h11" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h12" type="mesh" mesh="wheel_h12" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h13" type="mesh" mesh="wheel_h13" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_h14" type="mesh" 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condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="arm1" pos="0 0 0.3"><joint name="j_arm1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.04241645652 -0.0175 0.01136546473" mass="0.07983246072" fullinertia="0.00001325415967 0.0001720993433 0.0001595442822 0 -0.00004223036142 0"/><body name="pawl1" pos="0.1207407 0 0.0323524"><joint name="j_pawl1" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0" range="-0.2 0.33726" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.03" springref="0.58726"/><inertial pos="-0.004650051811 -0.007673518476 -0.01119677903" mass="0.01923937536" fullinertia="0.000003847209824 0.0000041546971 9.657832498e-7 1.049877652e-7 -0.0000014460873 2.527982173e-7"/><geom name="pawl1_h0" type="mesh" mesh="pawl1_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="link1" pos="0.1207407 0 0.0323524"><joint name="j_link1" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.024 -0.131985462" mass="0.05844725309" fullinertia="0.0003347916043 0.0003348035502 2.804720401e-7 0 0 0"/></body>
</body>
<body name="treadle1" pos="-0.12 0 0.08"><joint name="j_td1" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.13 0.13" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.2214738075 -0.026 -0.0004921640167" mass="0.02234620904" fullinertia="2.726637763e-7 0.0004225118834 0.0004224852838 0 3.878106488e-8 0"/><site name="strap_a" pos="0.43 -0.026 0.004" size="0.002"/></body>
<body name="arm2" pos="0 0 0.3"><joint name="j_arm2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.03802957516 -0.026 -0.02195638048" mass="0.07983247614" fullinertia="0.00004416891152 0.0001720994866 0.0001286296737 0 0.00007314513254 0"/><body name="pawl2" pos="0.1082532 0 -0.0625"><joint name="j_pawl2" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0" range="-0.2 0.33726" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.03" springref="0.58726"/><inertial pos="-0.007836612705 0.00284428687 -0.003237477392" mass="0.02750931136" fullinertia="0.000004715056249 0.000005041982301 0.000008209444121 7.880979746e-7 -0.000001740697154 3.255806395e-7"/><geom name="pawl2_h0" type="mesh" mesh="pawl2_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="link2" pos="0.1082532 0 -0.0625"><joint name="j_link2" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.024 -0.08426714006" mass="0.03752852336" fullinertia="0.00008611205055 0.00008612399646 1.863377563e-7 0 0 0"/></body>
</body>
<body name="treadle2" pos="-0.12 0 0.08"><joint name="j_td2" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.13 0.13" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.2214738075 0.026 -0.0004921640167" mass="0.02234620904" fullinertia="2.726637763e-7 0.0004225118834 0.0004224852838 0 3.878106488e-8 0"/><site name="strap_b" pos="0.43 0.026 0.004" size="0.002"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="strap_over" type="cylinder" fromto="0.3 0 0.19 0.32 0 0.19" size="0.026" contype="0" conaffinity="0" group="3" mass="0"/><site name="strap_side" pos="0.31 0 0.28" size="0.002"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin1" body1="treadle1" body2="link1" anchor="0.2407407 -0.024 0.004" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin2" body1="treadle2" body2="link2" anchor="0.2282532 0.024 0.004" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="treadle1" body2="link1"/><exclude body1="treadle2" body2="link2"/></contact>
<tendon><spatial name="strap" limited="true" range="0 0.293681409" width="0.001" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="strap_a"/><geom geom="strap_over" sidesite="strap_side"/><site site="strap_b"/></spatial></tendon>
<actuator><motor name="foot1" joint="j_td1" gear="1" ctrlrange="0 1.5"/><motor name="foot2" joint="j_td2" gear="1" ctrlrange="0 1.5"/></actuator>
</mujoco>
