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<compiler angle="radian" autolimits="true"/>
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damping="0.001" frictionloss="0"/><inertial pos="0 -0.021 0.04434365941" mass="0.02410717635" fullinertia="0.00003321214119 0.00003343668016 3.691820356e-7 0 0 0"/></body>
</body>
<body name="arm" pos="0.066 0 0.122"><joint name="j_arm" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.03158689646 -0.02671102793 0" mass="0.02020978605" fullinertia="3.673468271e-7 0.00001341306068 0.00001327088147 2.009747156e-7 0 0"/><body name="pinionB" pos="-0.066 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.005 0" mass="0.124942779" fullinertia="0.00003161817631 0.00005648915407 0.00003161788784 0 0 0"/><geom name="pinionB_h0" type="mesh" mesh="pinionB_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="pinionB_h1" type="mesh" mesh="pinionB_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="pinionB_h2" type="mesh" mesh="pinionB_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="pinionB_h3" type="mesh" mesh="pinionB_h3" 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="pinionB_h4" type="mesh" mesh="pinionB_h4" 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="pinionB_h5" type="mesh" mesh="pinionB_h5" 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="pinionB_h6" type="mesh" mesh="pinionB_h6" 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="pinionB_h7" type="mesh" mesh="pinionB_h7" 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="pinionB_h8" type="mesh" mesh="pinionB_h8" 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="pinionB_h9" type="mesh" mesh="pinionB_h9" 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>
<body name="wheelA" pos="0.066 0 0.122"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.002"/><inertial pos="0 -0.01 0" mass="0.08071785684" fullinertia="0.00002620477931 0.00005154856816 0.00002620477931 0 0 0"/><geom name="wheelA_h0" type="mesh" mesh="wheelA_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="wheelA_h1" type="mesh" mesh="wheelA_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="wheelA_h2" type="mesh" mesh="wheelA_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="wheelA_h3" type="mesh" mesh="wheelA_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="wheelA_h4" type="mesh" mesh="wheelA_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="wheelA_h5" type="mesh" mesh="wheelA_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="wheelA_h6" type="mesh" mesh="wheelA_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="wheelA_h7" type="mesh" mesh="wheelA_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="wheelA_h8" type="mesh" mesh="wheelA_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="wheelA_h9" type="mesh" mesh="wheelA_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"/><geom name="wheelA_h10" type="mesh" mesh="wheelA_h10" 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="wheelA_h11" type="mesh" mesh="wheelA_h11" 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><connect name="pin_b" body1="link" body2="arm" anchor="0 0 0.102" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="arm"/></contact>
<actuator><velocity name="drive" joint="j_c" kv="20" forcerange="-40 40"/></actuator>
</mujoco>
