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name="sleeve" pos="0 0 0.112962"><joint name="j_z" type="slide" axis="0 0 1" damping="0.3" frictionloss="0" range="-0.005 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.008176933159" mass="0.15" fullinertia="0.00002534146246 0.00002661969394 0.00001738389171 0 0 0"/><body name="rod_r" pos="0.013 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" range="-0.3 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02145236817 -0.008933419622 0.07085588782" mass="0.4" fullinertia="0.0000892943362 0.0001210777619 0.00006179276065 3.848976539e-7 -0.000009293271385 -7.696455245e-7"/><body name="wheel_r" pos="0.007 0 0.099755"><joint name="j_wr" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 -0.000007122041017 0.000007959928195" mass="0.02" fullinertia="4.273682102e-7 6.397430096e-7 4.265607487e-7 0 0 6.754600779e-10"/><geom name="wheel_r_h0" type="mesh" mesh="wheel_r_h0" 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<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_s" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
