<mujoco model="250-anti-friction-bearing">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="wheel_fl" pos="-0.06 0 0"><joint name="j_fl" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.05179540518 0" mass="0.6" fullinertia="0.0007082081544 0.001406083824 0.0007082081544 0 0 0"/><geom name="wheel_fl_h0" type="capsule" fromto="0 -0.056 0 0 -0.047 0" size="0.07" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="wheel_fr" pos="0.06 0 0"><joint name="j_fr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.03679540518 0" mass="0.6" fullinertia="0.0007082081544 0.001406083824 0.0007082081544 0 0 0"/><geom name="wheel_fr_h0" type="capsule" fromto="0 -0.041 0 0 -0.032 0" size="0.07" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="wheel_bl" pos="-0.06 0 0"><joint name="j_bl" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.04520459482 0" mass="0.6" fullinertia="0.0007082081544 0.001406083824 0.0007082081544 0 0 0"/><geom name="wheel_bl_h0" type="capsule" fromto="0 0.041 0 0 0.05 0" size="0.07" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="wheel_br" pos="0.06 0 0"><joint name="j_br" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0.06020459482 0" mass="0.6" fullinertia="0.0007082081544 0.001406083824 0.0007082081544 0 0 0"/><geom name="wheel_br_h0" type="capsule" fromto="0 0.056 0 0 0.065 0" size="0.07" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="way_x" pos="0 0 0.055893"><joint name="j_x" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 0 0.00025" mass="0.05" fullinertia="4.166666667e-9 4.166666667e-9 6.25e-9 0 0 0"/><body name="way_z" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0 0.00025" mass="0.05" fullinertia="4.166666667e-9 4.166666667e-9 6.25e-9 0 0 0"/><body name="shaft" pos="0 0 0"><joint name="j_shaft" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="2" fullinertia="0.002960781661 0.001685488312 0.002960781661 0 0 0"/><geom name="shaft_h0" type="capsule" fromto="0 -0.075 0 0 0.075 0" size="0.012" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</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_shaft" kv="5" forcerange="-2 2"/></actuator>
</mujoco>
