<mujoco model="196-irregular-wheel-arm">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="wheel_h0" vertex="-0.001695 -0.006 -0.041901 -0.001695 0.006 -0.041901 0.010959 -0.006 -0.043496 0.010959 0.006 -0.043496 0.004727 -0.006 -0.05563 0.004727 0.006 -0.05563 0.001331 -0.006 -0.055202 0.001331 0.006 -0.055202"/><mesh name="wheel_h1" vertex="0.014835 -0.006 -0.04356 0.014835 0.006 -0.04356 0.027333 -0.006 -0.041017 0.027333 0.006 -0.041017 0.025317 -0.006 -0.054507 0.025317 0.006 -0.054507 0.021963 -0.006 -0.05519 0.021963 0.006 -0.05519"/><mesh name="wheel_h2" vertex="0.030315 -0.006 -0.039827 0.030315 0.006 -0.039827 0.040654 -0.006 -0.032359 0.040654 0.006 -0.032359 0.044377 -0.006 -0.045482 0.044377 0.006 -0.045482 0.041602 -0.006 -0.047486 0.041602 0.006 -0.047486"/><mesh name="wheel_h3" vertex="0.042617 -0.006 -0.030123 0.042617 0.006 -0.030123 0.048445 -0.006 -0.018779 0.048445 0.006 -0.018779 0.057714 -0.006 -0.028786 0.057714 0.006 -0.028786 0.05615 -0.006 -0.031831 0.05615 0.006 -0.031831"/><mesh name="wheel_h4" vertex="0.049112 -0.006 -0.015892 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<size memory="64M"/>
<worldbody>
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</body>
<body name="pinion" pos="0 0 0"><joint name="j_pinion" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="0.1986288582" fullinertia="0.00005077020453 0.00009724670742 0.00005077003063 0 -2.841485219e-11 0"/><geom name="pinion_h0" type="mesh" mesh="pinion_h0" 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="pinion_h1" type="mesh" mesh="pinion_h1" 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="pinion_h2" type="mesh" mesh="pinion_h2" 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="pinion_h3" type="mesh" mesh="pinion_h3" 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="pinion_h4" type="mesh" mesh="pinion_h4" 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="pinion_h5" type="mesh" mesh="pinion_h5" 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="pinion_h6" type="mesh" mesh="pinion_h6" 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="pinion_h7" type="mesh" mesh="pinion_h7" 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="pinion_h8" type="mesh" mesh="pinion_h8" 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="pinion_h9" type="mesh" mesh="pinion_h9" 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>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_pinion" kv="1.5" forcerange="-6 6"/></actuator>
</mujoco>
