<mujoco model="32-friction-wheels">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="w1" pos="0 0 0.1"><joint name="j_w1" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="1.5" diaginertia="0.0014625 0.00216 0.0014625"/><geom name="w1_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.06" contype="9" conaffinity="18" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="w2" pos="0.14 0 0.1"><joint name="j_press" type="slide" axis="1 0 0" damping="20" frictionloss="0" range="-0.02 0.02" stiffness="2000" springref="-0.01"/><joint name="w2_spin" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0.2"/><inertial pos="0 0 0" mass="2.6" diaginertia="0.004355 0.006656 0.004355"/><geom name="w2_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.08" contype="17" conaffinity="10" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" 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_w1" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
