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<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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<body name="wheel_c" pos="0.021962 0 0"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="0.001553749659 -0.002735156762 -0.004235858857" mass="0.2339807534" fullinertia="0.0001631095463 0.000312173548 0.0001885568159 -1.846257145e-7 -0.00001210159298 5.854835938e-7"/><geom name="wheel_c_h0" type="mesh" mesh="wheel_c_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h1" type="mesh" mesh="wheel_c_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h2" type="mesh" mesh="wheel_c_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h3" type="mesh" mesh="wheel_c_h3" contype="8" conaffinity="16" condim="3" 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solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h159" type="mesh" mesh="wheel_c_h159" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h160" type="mesh" mesh="wheel_c_h160" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="wheel_c_h161" type="capsule" fromto="-0.011 0.001 0.019053 -0.0195 0.001 0.033775" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 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_c" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
