<mujoco model="88-intermittent-rotary-eccentric-stops">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="cam_a_h0" vertex="0.011539 -0.02 -0.014251 0.011539 -0.006 -0.014251 0.028775 -0.02 -0.028714 0.028775 -0.006 -0.028714 0.033275 -0.02 -0.023352 0.033275 -0.006 -0.023352 0.021824 -0.02 -0.001995 0.021824 -0.006 -0.001995"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cam_a" pos="0 0 0"><joint name="j_A" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.00279137868 -0.0142041722 -0.001937826174" mass="0.5" fullinertia="0.00009683314052 0.000167760945 0.0001106973325 -0.0000016806503 0.0000203569001 0.000001166738201"/><geom name="cam_a_h0" type="mesh" mesh="cam_a_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"/></body>
<body name="wheel_b" pos="0.01 0 0"><joint name="j_B" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0.01"/><inertial pos="0 0.002489432242 0" mass="0.6" fullinertia="0.0004962001978 0.0009520819943 0.0004693803364 0 -0.00001125236113 0"/><geom name="wheel_b_h0" type="capsule" fromto="-0.013681 0 -0.037588 -0.013681 -0.022 -0.037588" size="0.004" contype="16" conaffinity="8" 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_b_h1" type="capsule" fromto="0.013681 0 0.037588 0.013681 -0.022 0.037588" size="0.004" contype="16" conaffinity="8" 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>
<body name="frame" pos="0 0 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_A" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
