<mujoco model="298-old-fashioned-watch-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="wheel_h0" vertex="0.0312822004 -0.0025 0.0232899966 0.0312822004 0.0025 0.0232899966 0.0332366276 -0.0025 0.0204040826 0.0332366276 0.0025 0.0204040826 0.0356778416 -0.0025 0.0265958948 0.0356778416 0.0025 0.0265958948 0.0377356428 -0.0025 0.032802763 0.0377356428 0.0025 0.032802763"/><mesh name="wheel_h1" vertex="0.0257563467 -0.0025 0.0292849894 0.0257563467 0.0025 0.0292849894 0.0282680802 -0.0025 0.0268684879 0.0282680802 0.0025 0.0268684879 0.0293685977 -0.0025 0.033432551 0.0293685977 0.0025 0.033432551 0.0300909505 -0.0025 0.0399316252 0.0300909505 0.0025 0.0399316252"/><mesh name="wheel_h2" vertex="0.019104817 -0.0025 0.0340000877 0.019104817 0.0025 0.0340000877 0.0220640821 -0.0025 0.0321586113 0.0220640821 0.0025 0.0321586113 0.0217758052 -0.0025 0.0388080444 0.0217758052 0.0025 0.0388080444 0.0211311394 -0.0025 0.0453152838 0.0211311394 0.0025 0.0453152838"/><mesh name="wheel_h3" vertex="0.0116183152 -0.0025 0.0372292191 0.0116183152 0.0025 0.0372292191 0.0148957777 -0.0025 0.0360432491 0.0148957777 0.0025 0.0360432491 0.0132313055 -0.0025 0.04248744 0.0132313055 0.0025 0.04248744 0.011247796 -0.0025 0.0487184471 0.011247796 0.0025 0.0487184471"/><mesh name="wheel_h4" vertex="0.00362403726 -0.0025 0.0388312549 0.00362403726 0.0025 0.0388312549 0.00707645636 -0.0025 0.038352624 0.00707645636 0.0025 0.038352624 0.00410853422 -0.0025 0.0443099306 0.00410853422 0.0025 0.0443099306 0.00087286995 -0.0025 0.0499923804 0.00087286995 0.0025 0.0499923804"/><mesh name="wheel_h5" vertex="-0.00452862851 -0.0025 0.0387361785 -0.00452862851 0.0025 0.0387361785 -0.00105214008 -0.0025 0.0389858051 -0.00105214008 0.0025 0.0389858051 -0.0051937997 -0.0025 0.0441958646 -0.0051937997 0.0025 0.0441958646 -0.00954020469 -0.0025 0.0490814068 -0.00954020469 0.0025 0.0490814068"/><mesh name="wheel_h6" vertex="-0.0124833715 -0.0025 0.0369481452 -0.0124833715 0.0025 0.0369481452 -0.00913475296 -0.0025 0.0379151195 -0.00913475296 0.0025 0.0379151195 -0.0142691396 -0.0025 0.0421502272 -0.0142691396 0.0025 0.0421502272 -0.0195363266 -0.0025 0.0460253402 -0.0195363266 0.0025 0.0460253402"/><mesh name="wheel_h7" vertex="-0.0198925312 -0.0025 0.0335453007 -0.0198925312 0.0025 0.0335453007 -0.0168181333 -0.0025 0.0351873613 -0.0168181333 0.0025 0.0351873613 -0.0227208497 -0.0025 0.0382624227 -0.0227208497 0.0025 0.0382624227 -0.0286786173 -0.0025 0.0409577454 -0.0286786173 0.0025 0.0409577454"/><mesh name="wheel_h8" vertex="-0.0264322919 -0.0025 0.0286763656 -0.0264322919 0.0025 0.0286763656 -0.0237664805 -0.0025 0.0309217465 -0.0237664805 0.0025 0.0309217465 -0.0301795496 -0.0025 0.0327023667 -0.0301795496 0.0025 0.0327023667 -0.0365675148 -0.0025 0.0341001006 -0.0365675148 0.0025 0.0341001006"/><mesh name="wheel_h9" vertex="-0.0318168345 -0.0025 0.0225541358 -0.0318168345 0.0025 0.0225541358 -0.0296761185 -0.0025 0.025304703 -0.0296761185 0.0025 0.025304703 -0.0363192584 -0.0025 0.0257130603 -0.0363192584 0.0025 0.0257130603 -0.0428582364 -0.0025 0.0257521178 -0.0428582364 0.0025 0.0257521178"/><mesh name="wheel_h10" vertex="-0.0358108289 -0.0025 0.0154461819 -0.0358108289 0.0025 0.0154461819 -0.0342887677 -0.0025 0.0185817225 -0.0342887677 0.0025 0.0185817225 -0.0408716413 -0.0025 0.0175999698 -0.0408716413 0.0025 0.0175999698 -0.0472758475 -0.0025 0.0162786438 -0.0472758475 0.0025 0.0162786438"/><mesh name="wheel_h11" vertex="-0.0382397181 -0.0025 0.0076631558 -0.0382397181 0.0025 0.0076631558 -0.0374028332 -0.0025 0.0110466316 -0.0374028332 0.0025 0.0110466316 -0.0436377374 -0.0025 0.00871767619 -0.0436377374 0.0025 0.00871767619 -0.0496272772 -0.0025 0.00609371498 -0.0496272772 0.0025 0.00609371498"/><mesh name="wheel_h12" vertex="-0.0389973482 -0.0025 -0.000454786994 -0.0389973482 0.0025 -0.000454786994 -0.0388822154 -0.0025 0.00302874995 -0.0388822154 0.0025 0.00302874995 -0.0444966549 -0.0025 -0.000545621711 -0.0444966549 0.0025 -0.000545621711 -0.0498097567 -0.0025 -0.00435753842 -0.0498097567 0.0025 -0.00435753842"/><mesh name="wheel_h13" vertex="-0.0380506071 -0.0025 -0.00855285341 -0.0380506071 0.0025 -0.00855285341 -0.0386622582 -0.0025 -0.00512150265 -0.0386622582 0.0025 -0.00512150265 -0.0434108551 -0.0025 -0.00978507332 -0.0434108551 0.0025 -0.00978507332 -0.0478153108 -0.0025 -0.0146183465 -0.0478153108 0.0025 -0.0146183465"/><mesh name="wheel_h14" vertex="-0.0354408718 -0.0025 -0.0162771191 -0.0354408718 0.0025 -0.0162771191 -0.0367525748 -0.0025 -0.013047921 -0.0367525748 0.0025 -0.013047921 -0.0404277926 -0.0025 -0.0185968703 -0.0404277926 0.0025 -0.0185968703 -0.0437311064 -0.0025 -0.0242402626 -0.0437311064 0.0025 -0.0242402626"/><mesh name="wheel_h15" vertex="-0.0312822004 -0.0025 -0.0232899966 -0.0312822004 0.0025 -0.0232899966 -0.0332366276 -0.0025 -0.0204040826 -0.0332366276 0.0025 -0.0204040826 -0.0356778416 -0.0025 -0.0265958948 -0.0356778416 0.0025 -0.0265958948 -0.0377356428 -0.0025 -0.032802763 -0.0377356428 0.0025 -0.032802763"/><mesh name="wheel_h16" vertex="-0.0257563467 -0.0025 -0.0292849894 -0.0257563467 0.0025 -0.0292849894 -0.0282680802 -0.0025 -0.0268684879 -0.0282680802 0.0025 -0.0268684879 -0.0293685977 -0.0025 -0.033432551 -0.0293685977 0.0025 -0.033432551 -0.0300909505 -0.0025 -0.0399316252 -0.0300909505 0.0025 -0.0399316252"/><mesh name="wheel_h17" vertex="-0.019104817 -0.0025 -0.0340000877 -0.019104817 0.0025 -0.0340000877 -0.0220640821 -0.0025 -0.0321586113 -0.0220640821 0.0025 -0.0321586113 -0.0217758052 -0.0025 -0.0388080444 -0.0217758052 0.0025 -0.0388080444 -0.0211311394 -0.0025 -0.0453152838 -0.0211311394 0.0025 -0.0453152838"/><mesh name="wheel_h18" vertex="-0.0116183152 -0.0025 -0.0372292191 -0.0116183152 0.0025 -0.0372292191 -0.0148957777 -0.0025 -0.0360432491 -0.0148957777 0.0025 -0.0360432491 -0.0132313055 -0.0025 -0.04248744 -0.0132313055 0.0025 -0.04248744 -0.011247796 -0.0025 -0.0487184471 -0.011247796 0.0025 -0.0487184471"/><mesh name="wheel_h19" vertex="-0.00362403726 -0.0025 -0.0388312549 -0.00362403726 0.0025 -0.0388312549 -0.00707645636 -0.0025 -0.038352624 -0.00707645636 0.0025 -0.038352624 -0.00410853422 -0.0025 -0.0443099306 -0.00410853422 0.0025 -0.0443099306 -0.00087286995 -0.0025 -0.0499923804 -0.00087286995 0.0025 -0.0499923804"/><mesh name="wheel_h20" vertex="0.00452862851 -0.0025 -0.0387361785 0.00452862851 0.0025 -0.0387361785 0.00105214008 -0.0025 -0.0389858051 0.00105214008 0.0025 -0.0389858051 0.0051937997 -0.0025 -0.0441958646 0.0051937997 0.0025 -0.0441958646 0.00954020469 -0.0025 -0.0490814068 0.00954020469 0.0025 -0.0490814068"/><mesh name="wheel_h21" vertex="0.0124833715 -0.0025 -0.0369481452 0.0124833715 0.0025 -0.0369481452 0.00913475296 -0.0025 -0.0379151195 0.00913475296 0.0025 -0.0379151195 0.0142691396 -0.0025 -0.0421502272 0.0142691396 0.0025 -0.0421502272 0.0195363266 -0.0025 -0.0460253402 0.0195363266 0.0025 -0.0460253402"/><mesh name="wheel_h22" vertex="0.0198925312 -0.0025 -0.0335453007 0.0198925312 0.0025 -0.0335453007 0.0168181333 -0.0025 -0.0351873613 0.0168181333 0.0025 -0.0351873613 0.0227208497 -0.0025 -0.0382624227 0.0227208497 0.0025 -0.0382624227 0.0286786173 -0.0025 -0.0409577454 0.0286786173 0.0025 -0.0409577454"/><mesh name="wheel_h23" vertex="0.0264322919 -0.0025 -0.0286763656 0.0264322919 0.0025 -0.0286763656 0.0237664805 -0.0025 -0.0309217465 0.0237664805 0.0025 -0.0309217465 0.0301795496 -0.0025 -0.0327023667 0.0301795496 0.0025 -0.0327023667 0.0365675148 -0.0025 -0.0341001006 0.0365675148 0.0025 -0.0341001006"/><mesh name="wheel_h24" vertex="0.0318168345 -0.0025 -0.0225541358 0.0318168345 0.0025 -0.0225541358 0.0296761185 -0.0025 -0.025304703 0.0296761185 0.0025 -0.025304703 0.0363192584 -0.0025 -0.0257130603 0.0363192584 0.0025 -0.0257130603 0.0428582364 -0.0025 -0.0257521178 0.0428582364 0.0025 -0.0257521178"/><mesh name="wheel_h25" vertex="0.0358108289 -0.0025 -0.0154461819 0.0358108289 0.0025 -0.0154461819 0.0342887677 -0.0025 -0.0185817225 0.0342887677 0.0025 -0.0185817225 0.0408716413 -0.0025 -0.0175999698 0.0408716413 0.0025 -0.0175999698 0.0472758475 -0.0025 -0.0162786438 0.0472758475 0.0025 -0.0162786438"/><mesh name="wheel_h26" vertex="0.0382397181 -0.0025 -0.0076631558 0.0382397181 0.0025 -0.0076631558 0.0374028332 -0.0025 -0.0110466316 0.0374028332 0.0025 -0.0110466316 0.0436377374 -0.0025 -0.00871767619 0.0436377374 0.0025 -0.00871767619 0.0496272772 -0.0025 -0.00609371498 0.0496272772 0.0025 -0.00609371498"/><mesh name="wheel_h27" vertex="0.0389973482 -0.0025 0.000454786994 0.0389973482 0.0025 0.000454786994 0.0388822154 -0.0025 -0.00302874995 0.0388822154 0.0025 -0.00302874995 0.0444966549 -0.0025 0.000545621711 0.0444966549 0.0025 0.000545621711 0.0498097567 -0.0025 0.00435753842 0.0498097567 0.0025 0.00435753842"/><mesh name="wheel_h28" vertex="0.0380506071 -0.0025 0.00855285341 0.0380506071 0.0025 0.00855285341 0.0386622582 -0.0025 0.00512150265 0.0386622582 0.0025 0.00512150265 0.0434108551 -0.0025 0.00978507332 0.0434108551 0.0025 0.00978507332 0.0478153108 -0.0025 0.0146183465 0.0478153108 0.0025 0.0146183465"/><mesh name="wheel_h29" vertex="0.0354408718 -0.0025 0.0162771191 0.0354408718 0.0025 0.0162771191 0.0367525748 -0.0025 0.013047921 0.0367525748 0.0025 0.013047921 0.0404277926 -0.0025 0.0185968703 0.0404277926 0.0025 0.0185968703 0.0437311064 -0.0025 0.0242402626 0.0437311064 0.0025 0.0242402626"/><mesh name="anchor_h0" vertex="0.04628 -0.0035 -0.0295552 0.04628 0.0035 -0.0295552 0.0452302 -0.0035 -0.0305806 0.0452302 0.0035 -0.0305806 0.0401562 -0.0035 -0.02715 0.0401562 0.0035 -0.02715 0.0408531 -0.0035 -0.0260896 0.0408531 0.0035 -0.0260896"/><mesh name="anchor_h1" vertex="0.0452302 -0.0035 -0.0305806 0.0452302 0.0035 -0.0305806 0.0441586 -0.0035 -0.0315714 0.0441586 0.0035 -0.0315714 0.0394317 -0.0035 -0.0281919 0.0394317 0.0035 -0.0281919 0.0401562 -0.0035 -0.02715 0.0401562 0.0035 -0.02715"/><mesh name="anchor_h2" vertex="0.0441586 -0.0035 -0.0315714 0.0441586 0.0035 -0.0315714 0.0430663 -0.0035 -0.0325272 0.0430663 0.0035 -0.0325272 0.0386802 -0.0035 -0.0292144 0.0386802 0.0035 -0.0292144 0.0394317 -0.0035 -0.0281919 0.0394317 0.0035 -0.0281919"/><mesh name="anchor_h3" vertex="0.0430663 -0.0035 -0.0325272 0.0430663 0.0035 -0.0325272 0.0419545 -0.0035 -0.0334476 0.0419545 0.0035 -0.0334476 0.0379022 -0.0035 -0.030217 0.0379022 0.0035 -0.030217 0.0386802 -0.0035 -0.0292144 0.0386802 0.0035 -0.0292144"/><mesh name="anchor_h4" vertex="0.0419545 -0.0035 -0.0334476 0.0419545 0.0035 -0.0334476 0.0408241 -0.0035 -0.0343321 0.0408241 0.0035 -0.0343321 0.0370982 -0.0035 -0.0311988 0.0370982 0.0035 -0.0311988 0.0379022 -0.0035 -0.030217 0.0379022 0.0035 -0.030217"/><mesh name="anchor_h5" vertex="0.0408241 -0.0035 -0.0343321 0.0408241 0.0035 -0.0343321 0.0396763 -0.0035 -0.0351806 0.0396763 0.0035 -0.0351806 0.0362688 -0.0035 -0.0321592 0.0362688 0.0035 -0.0321592 0.0370982 -0.0035 -0.0311988 0.0370982 0.0035 -0.0311988"/><mesh name="anchor_h6" vertex="0.0396763 -0.0035 -0.0351806 0.0396763 0.0035 -0.0351806 0.0385123 -0.0035 -0.0359926 0.0385123 0.0035 -0.0359926 0.0354146 -0.0035 -0.0330976 0.0354146 0.0035 -0.0330976 0.0362688 -0.0035 -0.0321592 0.0362688 0.0035 -0.0321592"/><mesh name="anchor_h7" vertex="0.0385123 -0.0035 -0.0359926 0.0385123 0.0035 -0.0359926 0.0373331 -0.0035 -0.036768 0.0373331 0.0035 -0.036768 0.034536 -0.0035 -0.0340133 0.034536 0.0035 -0.0340133 0.0354146 -0.0035 -0.0330976 0.0354146 0.0035 -0.0330976"/><mesh name="anchor_h8" vertex="0.0348904 -0.0035 -0.0336497 0.0348904 0.0035 -0.0336497 0.0330196 -0.0035 -0.0354873 0.0330196 0.0035 -0.0354873 0.0373332 -0.0035 -0.036768 0.0373332 0.0035 -0.036768 0.0377162 -0.0035 -0.036375 0.0377162 0.0035 -0.036375"/><mesh name="anchor_h9" vertex="-0.0367079 -0.0035 -0.0361601 -0.0367079 0.0035 -0.0361601 -0.0376419 -0.0035 -0.0351868 -0.0376419 0.0035 -0.0351868 -0.0345445 -0.0035 -0.0322914 -0.0345445 0.0035 -0.0322914 -0.0339112 -0.0035 -0.0334051 -0.0339112 0.0035 -0.0334051"/><mesh name="anchor_h10" vertex="-0.0376419 -0.0035 -0.0351868 -0.0376419 0.0035 -0.0351868 -0.0385501 -0.0035 -0.0341894 -0.0385501 0.0035 -0.0341894 -0.0351429 -0.0035 -0.0311676 -0.0351429 0.0035 -0.0311676 -0.0345445 -0.0035 -0.0322914 -0.0345445 0.0035 -0.0322914"/><mesh name="anchor_h11" vertex="-0.0385501 -0.0035 -0.0341894 -0.0385501 0.0035 -0.0341894 -0.0394318 -0.0035 -0.0331685 -0.0394318 0.0035 -0.0331685 -0.0357063 -0.0035 -0.0300347 -0.0357063 0.0035 -0.0300347 -0.0351429 -0.0035 -0.0311676 -0.0351429 0.0035 -0.0311676"/><mesh name="anchor_h12" vertex="-0.0394318 -0.0035 -0.0331685 -0.0394318 0.0035 -0.0331685 -0.0402866 -0.0035 -0.0321249 -0.0402866 0.0035 -0.0321249 -0.0362347 -0.0035 -0.0288939 -0.0362347 0.0035 -0.0288939 -0.0357063 -0.0035 -0.0300347 -0.0357063 0.0035 -0.0300347"/><mesh name="anchor_h13" vertex="-0.0402866 -0.0035 -0.0321249 -0.0402866 0.0035 -0.0321249 -0.0411137 -0.0035 -0.0310594 -0.0411137 0.0035 -0.0310594 -0.0367279 -0.0035 -0.0277461 -0.0367279 0.0035 -0.0277461 -0.0362347 -0.0035 -0.0288939 -0.0362347 0.0035 -0.0288939"/><mesh name="anchor_h14" vertex="-0.0411137 -0.0035 -0.0310594 -0.0411137 0.0035 -0.0310594 -0.0419127 -0.0035 -0.0299725 -0.0419127 0.0035 -0.0299725 -0.0371861 -0.0035 -0.0265924 -0.0371861 0.0035 -0.0265924 -0.0367279 -0.0035 -0.0277461 -0.0367279 0.0035 -0.0277461"/><mesh name="anchor_h15" vertex="-0.0419127 -0.0035 -0.0299725 -0.0419127 0.0035 -0.0299725 -0.0426829 -0.0035 -0.0288651 -0.0426829 0.0035 -0.0288651 -0.0376092 -0.0035 -0.0254339 -0.0376092 0.0035 -0.0254339 -0.0371861 -0.0035 -0.0265924 -0.0371861 0.0035 -0.0265924"/><mesh name="anchor_h16" vertex="-0.0426829 -0.0035 -0.0288651 -0.0426829 0.0035 -0.0288651 -0.0434239 -0.0035 -0.0277379 -0.0434239 0.0035 -0.0277379 -0.0379974 -0.0035 -0.0242716 -0.0379974 0.0035 -0.0242716 -0.0376092 -0.0035 -0.0254339 -0.0376092 0.0035 -0.0254339"/><mesh name="anchor_h17" vertex="-0.0370845 -0.0035 -0.0357738 -0.0370845 0.0035 -0.0357738 -0.0350957 -0.0035 -0.0377269 -0.0350957 0.0035 -0.0377269 -0.0339111 -0.0035 -0.0334051 -0.0339111 0.0035 -0.0334051 -0.0342591 -0.0035 -0.0330482 -0.0342591 0.0035 -0.0330482"/><mesh name="anchor_h18" vertex="0.020494 -0.003 0.0275199 0.020494 0.003 0.0275199 0.0215019 -0.003 0.0288733 0.0215019 0.003 0.0288733 0.021537 -0.003 0.0289277 0.021537 0.003 0.0289277 0.0216273 -0.003 0.0290992 0.0216273 0.003 0.0290992 0.0217486 -0.003 0.0293971 0.0217486 0.003 0.0293971 0.0218756 -0.003 0.029826 0.0218756 0.003 0.029826 0.0219824 -0.003 0.0303863 0.0219824 0.003 0.0303863 0.0220435 -0.003 0.0310731 0.0220435 0.003 0.0310731 0.0220435 -0.003 0.0310731 0.0220435 0.003 0.0310731 0.0202721 -0.003 0.0322567 0.0202721 0.003 0.0322567 0.0202721 -0.003 0.0322567 0.0202721 0.003 0.0322567 0.0196609 -0.003 0.0319374 0.0196609 0.003 0.0319374 0.0191842 -0.003 0.0316244 0.0191842 0.003 0.0316244 0.0188365 -0.003 0.0313429 0.0188365 0.003 0.0313429 0.0186077 -0.003 0.0311168 0.0186077 0.003 0.0311168 0.0184838 -0.003 0.0309678 0.0184838 0.003 0.0309678 0.018447 -0.003 0.0309145 0.018447 0.003 0.0309145 0.0175823 -0.003 0.0294654 0.0175823 0.003 0.0294654"/><mesh name="anchor_h19" vertex="0.0147314 -0.003 0.0309893 0.0147314 0.003 0.0309893 0.0154559 -0.003 0.0325133 0.0154559 0.003 0.0325133 0.0154797 -0.003 0.0325735 0.0154797 0.003 0.0325735 0.0155348 -0.003 0.0327593 0.0155348 0.003 0.0327593 0.0155957 -0.003 0.0330751 0.0155957 0.003 0.0330751 0.0156365 -0.003 0.0335207 0.0156365 0.003 0.0335207 0.0156319 -0.003 0.0340909 0.0156319 0.003 0.0340909 0.0155578 -0.003 0.0347765 0.0155578 0.003 0.0347765 0.0155578 -0.003 0.0347765 0.0155578 0.003 0.0347765 0.0135896 -0.003 0.0355918 0.0135896 0.003 0.0355918 0.0135896 -0.003 0.0355918 0.0135896 0.003 0.0355918 0.0130525 -0.003 0.0351594 0.0130525 0.003 0.0351594 0.012646 -0.003 0.0347594 0.012646 0.003 0.0347594 0.0123599 -0.003 0.0344155 0.0123599 0.003 0.0344155 0.0121796 -0.003 0.0341491 0.0121796 0.003 0.0341491 0.0120872 -0.003 0.0339788 0.0120872 0.003 0.0339788 0.0120615 -0.003 0.0339193 0.0120615 0.003 0.0339193 0.0114961 -0.003 0.0323294 0.0114961 0.003 0.0323294"/><mesh name="anchor_h20" vertex="0.0084026 -0.003 0.0332678 0.0084026 0.003 0.0332678 0.0088158 -0.003 0.0349039 0.0088158 0.003 0.0349039 0.0088275 -0.003 0.0349676 0.0088275 0.003 0.0349676 0.0088453 -0.003 0.0351606 0.0088453 0.003 0.0351606 0.0088434 -0.003 0.0354822 0.0088434 0.003 0.0354822 0.0087965 -0.003 0.0359271 0.0087965 0.003 0.0359271 0.0086808 -0.003 0.0364855 0.0086808 0.003 0.0364855 0.0084743 -0.003 0.0371435 0.0084743 0.003 0.0371435 0.0084743 -0.003 0.0371435 0.0084743 0.003 0.0371435 0.0063849 -0.003 0.0375591 0.0063849 0.003 0.0375591 0.0063849 -0.003 0.0375591 0.0063849 0.003 0.0375591 0.0059424 -0.003 0.0370302 0.0059424 0.003 0.0370302 0.0056218 -0.003 0.0365586 0.0056218 0.003 0.0365586 0.0054082 -0.003 0.0361655 0.0054082 0.003 0.0361655 0.0052834 -0.003 0.0358691 0.0052834 0.003 0.0358691 0.005226 -0.003 0.035684 0.005226 0.003 0.035684 0.0052124 -0.003 0.0356207 0.0052124 0.003 0.0356207 0.004968 -0.003 0.0339509 0.004968 0.003 0.0339509"/><mesh name="anchor_h21" vertex="0.0017509 -0.003 0.0342678 0.0017509 0.003 0.0342678 0.001837 -0.003 0.0359531 0.001837 0.003 0.0359531 0.001836 -0.003 0.0360178 0.001836 0.003 0.0360178 0.0018158 -0.003 0.0362106 0.0018158 0.003 0.0362106 0.0017512 -0.003 0.0365257 0.0017512 0.003 0.0365257 0.0016185 -0.003 0.0369529 0.0016185 0.003 0.0369529 0.001396 -0.003 0.037478 0.001396 0.003 0.037478 0.0010652 -0.003 0.038083 0.0010652 0.003 0.038083 0.0010652 -0.003 0.038083 0.0010652 0.003 0.038083 -0.0010652 -0.003 0.038083 -0.0010652 0.003 0.038083 -0.0010652 -0.003 0.038083 -0.0010652 0.003 0.038083 -0.001396 -0.003 0.037478 -0.001396 0.003 0.037478 -0.0016185 -0.003 0.0369529 -0.0016185 0.003 0.0369529 -0.0017512 -0.003 0.0365257 -0.0017512 0.003 0.0365257 -0.0018158 -0.003 0.0362106 -0.0018158 0.003 0.0362106 -0.001836 -0.003 0.0360178 -0.001836 0.003 0.0360178 -0.001837 -0.003 0.0359531 -0.001837 0.003 0.0359531 -0.0017509 -0.003 0.0342678 -0.0017509 0.003 0.0342678"/><mesh name="anchor_h22" vertex="-0.004968 -0.003 0.0339509 -0.004968 0.003 0.0339509 -0.0052124 -0.003 0.0356207 -0.0052124 0.003 0.0356207 -0.005226 -0.003 0.035684 -0.005226 0.003 0.035684 -0.0052834 -0.003 0.0358691 -0.0052834 0.003 0.0358691 -0.0054082 -0.003 0.0361655 -0.0054082 0.003 0.0361655 -0.0056218 -0.003 0.0365586 -0.0056218 0.003 0.0365586 -0.0059424 -0.003 0.0370302 -0.0059424 0.003 0.0370302 -0.0063849 -0.003 0.0375591 -0.0063849 0.003 0.0375591 -0.0063849 -0.003 0.0375591 -0.0063849 0.003 0.0375591 -0.0084743 -0.003 0.0371435 -0.0084743 0.003 0.0371435 -0.0084743 -0.003 0.0371435 -0.0084743 0.003 0.0371435 -0.0086808 -0.003 0.0364855 -0.0086808 0.003 0.0364855 -0.0087965 -0.003 0.0359271 -0.0087965 0.003 0.0359271 -0.0088434 -0.003 0.0354822 -0.0088434 0.003 0.0354822 -0.0088453 -0.003 0.0351606 -0.0088453 0.003 0.0351606 -0.0088275 -0.003 0.0349676 -0.0088275 0.003 0.0349676 -0.0088158 -0.003 0.0349039 -0.0088158 0.003 0.0349039 -0.0084026 -0.003 0.0332678 -0.0084026 0.003 0.0332678"/><mesh name="anchor_h23" vertex="-0.0114961 -0.003 0.0323294 -0.0114961 0.003 0.0323294 -0.0120615 -0.003 0.0339193 -0.0120615 0.003 0.0339193 -0.0120872 -0.003 0.0339788 -0.0120872 0.003 0.0339788 -0.0121796 -0.003 0.0341491 -0.0121796 0.003 0.0341491 -0.0123599 -0.003 0.0344155 -0.0123599 0.003 0.0344155 -0.012646 -0.003 0.0347594 -0.012646 0.003 0.0347594 -0.0130525 -0.003 0.0351594 -0.0130525 0.003 0.0351594 -0.0135896 -0.003 0.0355918 -0.0135896 0.003 0.0355918 -0.0135896 -0.003 0.0355918 -0.0135896 0.003 0.0355918 -0.0155578 -0.003 0.0347765 -0.0155578 0.003 0.0347765 -0.0155578 -0.003 0.0347765 -0.0155578 0.003 0.0347765 -0.0156319 -0.003 0.0340909 -0.0156319 0.003 0.0340909 -0.0156365 -0.003 0.0335207 -0.0156365 0.003 0.0335207 -0.0155957 -0.003 0.0330751 -0.0155957 0.003 0.0330751 -0.0155348 -0.003 0.0327593 -0.0155348 0.003 0.0327593 -0.0154797 -0.003 0.0325735 -0.0154797 0.003 0.0325735 -0.0154559 -0.003 0.0325133 -0.0154559 0.003 0.0325133 -0.0147314 -0.003 0.0309893 -0.0147314 0.003 0.0309893"/><mesh name="anchor_h24" vertex="-0.0175823 -0.003 0.0294654 -0.0175823 0.003 0.0294654 -0.018447 -0.003 0.0309145 -0.018447 0.003 0.0309145 -0.0184838 -0.003 0.0309678 -0.0184838 0.003 0.0309678 -0.0186077 -0.003 0.0311168 -0.0186077 0.003 0.0311168 -0.0188365 -0.003 0.0313429 -0.0188365 0.003 0.0313429 -0.0191842 -0.003 0.0316244 -0.0191842 0.003 0.0316244 -0.0196609 -0.003 0.0319374 -0.0196609 0.003 0.0319374 -0.0202721 -0.003 0.0322567 -0.0202721 0.003 0.0322567 -0.0202721 -0.003 0.0322567 -0.0202721 0.003 0.0322567 -0.0220435 -0.003 0.0310731 -0.0220435 0.003 0.0310731 -0.0220435 -0.003 0.0310731 -0.0220435 0.003 0.0310731 -0.0219824 -0.003 0.0303863 -0.0219824 0.003 0.0303863 -0.0218756 -0.003 0.029826 -0.0218756 0.003 0.029826 -0.0217486 -0.003 0.0293971 -0.0217486 0.003 0.0293971 -0.0216273 -0.003 0.0290992 -0.0216273 0.003 0.0290992 -0.021537 -0.003 0.0289277 -0.021537 0.003 0.0289277 -0.0215019 -0.003 0.0288733 -0.0215019 0.003 0.0288733 -0.020494 -0.003 0.0275199 -0.020494 0.003 0.0275199"/><mesh name="balance_h0" vertex="0.0013497 -0.003 -0.0062689 0.0013497 0.003 -0.0062689 0.0018942 -0.003 -0.0087984 0.0018942 0.003 -0.0087984 0.0018949 -0.003 -0.008801 0.0018949 0.003 -0.008801 0.0019061 -0.003 -0.0088399 0.0019061 0.003 -0.0088399 0.0019369 -0.003 -0.0089235 0.0019369 0.003 -0.0089235 0.0019939 -0.003 -0.0090488 0.0019939 0.003 -0.0090488 0.0020833 -0.003 -0.009212 0.0020833 0.003 -0.009212 0.0022111 -0.003 -0.0094088 0.0022111 0.003 -0.0094088 0.0023825 -0.003 -0.0096341 0.0023825 0.003 -0.0096341 0.0026024 -0.003 -0.0098821 0.0026024 0.003 -0.0098821 0.0026873 -0.003 -0.0099687 0.0026873 0.003 -0.0099687 0.0051488 -0.003 -0.0089491 0.0051488 0.003 -0.0089491 0.0051475 -0.003 -0.0088279 0.0051475 0.003 -0.0088279 0.0051276 -0.003 -0.008497 0.0051276 0.003 -0.008497 0.0050896 -0.003 -0.0082165 0.0050896 0.003 -0.0082165 0.0050408 -0.003 -0.007987 0.0050408 0.003 -0.007987 0.0049886 -0.003 -0.0078083 0.0049886 0.003 -0.0078083 0.0049403 -0.003 -0.0076795 0.0049403 0.003 -0.0076795 0.0049029 -0.003 -0.0075986 0.0049029 0.003 -0.0075986 0.0048834 -0.003 -0.0075631 0.0048834 0.003 -0.0075631 0.004882 -0.003 -0.0075608 0.004882 0.003 -0.0075608 0.0034784 -0.003 -0.0053871 0.0034784 0.003 -0.0053871"/><mesh name="balance_h1" vertex="0.0053871 -0.003 -0.0034784 0.0053871 0.003 -0.0034784 0.0075608 -0.003 -0.004882 0.0075608 0.003 -0.004882 0.0075631 -0.003 -0.0048834 0.0075631 0.003 -0.0048834 0.0075986 -0.003 -0.0049029 0.0075986 0.003 -0.0049029 0.0076795 -0.003 -0.0049403 0.0076795 0.003 -0.0049403 0.0078083 -0.003 -0.0049886 0.0078083 0.003 -0.0049886 0.007987 -0.003 -0.0050408 0.007987 0.003 -0.0050408 0.0082165 -0.003 -0.0050896 0.0082165 0.003 -0.0050896 0.008497 -0.003 -0.0051276 0.008497 0.003 -0.0051276 0.0088279 -0.003 -0.0051475 0.0088279 0.003 -0.0051475 0.0089491 -0.003 -0.0051488 0.0089491 0.003 -0.0051488 0.0099687 -0.003 -0.0026873 0.0099687 0.003 -0.0026873 0.0098821 -0.003 -0.0026024 0.0098821 0.003 -0.0026024 0.0096341 -0.003 -0.0023825 0.0096341 0.003 -0.0023825 0.0094088 -0.003 -0.0022111 0.0094088 0.003 -0.0022111 0.009212 -0.003 -0.0020833 0.009212 0.003 -0.0020833 0.0090488 -0.003 -0.0019939 0.0090488 0.003 -0.0019939 0.0089235 -0.003 -0.0019369 0.0089235 0.003 -0.0019369 0.0088399 -0.003 -0.0019061 0.0088399 0.003 -0.0019061 0.008801 -0.003 -0.0018949 0.008801 0.003 -0.0018949 0.0087984 -0.003 -0.0018942 0.0087984 0.003 -0.0018942 0.0062689 -0.003 -0.0013497 0.0062689 0.003 -0.0013497"/><mesh name="balance_h2" vertex="0.0062689 -0.003 0.0013497 0.0062689 0.003 0.0013497 0.0087984 -0.003 0.0018942 0.0087984 0.003 0.0018942 0.008801 -0.003 0.0018949 0.008801 0.003 0.0018949 0.0088399 -0.003 0.0019061 0.0088399 0.003 0.0019061 0.0089235 -0.003 0.0019369 0.0089235 0.003 0.0019369 0.0090488 -0.003 0.0019939 0.0090488 0.003 0.0019939 0.009212 -0.003 0.0020833 0.009212 0.003 0.0020833 0.0094088 -0.003 0.0022111 0.0094088 0.003 0.0022111 0.0096341 -0.003 0.0023825 0.0096341 0.003 0.0023825 0.0098821 -0.003 0.0026024 0.0098821 0.003 0.0026024 0.0099687 -0.003 0.0026873 0.0099687 0.003 0.0026873 0.0089491 -0.003 0.0051488 0.0089491 0.003 0.0051488 0.0088279 -0.003 0.0051475 0.0088279 0.003 0.0051475 0.008497 -0.003 0.0051276 0.008497 0.003 0.0051276 0.0082165 -0.003 0.0050896 0.0082165 0.003 0.0050896 0.007987 -0.003 0.0050408 0.007987 0.003 0.0050408 0.0078083 -0.003 0.0049886 0.0078083 0.003 0.0049886 0.0076795 -0.003 0.0049403 0.0076795 0.003 0.0049403 0.0075986 -0.003 0.0049029 0.0075986 0.003 0.0049029 0.0075631 -0.003 0.0048834 0.0075631 0.003 0.0048834 0.0075608 -0.003 0.004882 0.0075608 0.003 0.004882 0.0053871 -0.003 0.0034784 0.0053871 0.003 0.0034784"/><mesh name="balance_h3" vertex="0.0034784 -0.003 0.0053871 0.0034784 0.003 0.0053871 0.004882 -0.003 0.0075608 0.004882 0.003 0.0075608 0.0048834 -0.003 0.0075631 0.0048834 0.003 0.0075631 0.0049029 -0.003 0.0075986 0.0049029 0.003 0.0075986 0.0049403 -0.003 0.0076795 0.0049403 0.003 0.0076795 0.0049886 -0.003 0.0078083 0.0049886 0.003 0.0078083 0.0050408 -0.003 0.007987 0.0050408 0.003 0.007987 0.0050896 -0.003 0.0082165 0.0050896 0.003 0.0082165 0.0051276 -0.003 0.008497 0.0051276 0.003 0.008497 0.0051475 -0.003 0.0088279 0.0051475 0.003 0.0088279 0.0051488 -0.003 0.0089491 0.0051488 0.003 0.0089491 0.0026873 -0.003 0.0099687 0.0026873 0.003 0.0099687 0.0026024 -0.003 0.0098821 0.0026024 0.003 0.0098821 0.0023825 -0.003 0.0096341 0.0023825 0.003 0.0096341 0.0022111 -0.003 0.0094088 0.0022111 0.003 0.0094088 0.0020833 -0.003 0.009212 0.0020833 0.003 0.009212 0.0019939 -0.003 0.0090488 0.0019939 0.003 0.0090488 0.0019369 -0.003 0.0089235 0.0019369 0.003 0.0089235 0.0019061 -0.003 0.0088399 0.0019061 0.003 0.0088399 0.0018949 -0.003 0.008801 0.0018949 0.003 0.008801 0.0018942 -0.003 0.0087984 0.0018942 0.003 0.0087984 0.0013497 -0.003 0.0062689 0.0013497 0.003 0.0062689"/><mesh name="balance_h4" vertex="-0.0013497 -0.003 0.0062689 -0.0013497 0.003 0.0062689 -0.0018942 -0.003 0.0087984 -0.0018942 0.003 0.0087984 -0.0018949 -0.003 0.008801 -0.0018949 0.003 0.008801 -0.0019061 -0.003 0.0088399 -0.0019061 0.003 0.0088399 -0.0019369 -0.003 0.0089235 -0.0019369 0.003 0.0089235 -0.0019939 -0.003 0.0090488 -0.0019939 0.003 0.0090488 -0.0020833 -0.003 0.009212 -0.0020833 0.003 0.009212 -0.0022111 -0.003 0.0094088 -0.0022111 0.003 0.0094088 -0.0023825 -0.003 0.0096341 -0.0023825 0.003 0.0096341 -0.0026024 -0.003 0.0098821 -0.0026024 0.003 0.0098821 -0.0026873 -0.003 0.0099687 -0.0026873 0.003 0.0099687 -0.0051488 -0.003 0.0089491 -0.0051488 0.003 0.0089491 -0.0051475 -0.003 0.0088279 -0.0051475 0.003 0.0088279 -0.0051276 -0.003 0.008497 -0.0051276 0.003 0.008497 -0.0050896 -0.003 0.0082165 -0.0050896 0.003 0.0082165 -0.0050408 -0.003 0.007987 -0.0050408 0.003 0.007987 -0.0049886 -0.003 0.0078083 -0.0049886 0.003 0.0078083 -0.0049403 -0.003 0.0076795 -0.0049403 0.003 0.0076795 -0.0049029 -0.003 0.0075986 -0.0049029 0.003 0.0075986 -0.0048834 -0.003 0.0075631 -0.0048834 0.003 0.0075631 -0.004882 -0.003 0.0075608 -0.004882 0.003 0.0075608 -0.0034784 -0.003 0.0053871 -0.0034784 0.003 0.0053871"/><mesh name="balance_h5" vertex="-0.0053871 -0.003 0.0034784 -0.0053871 0.003 0.0034784 -0.0075608 -0.003 0.004882 -0.0075608 0.003 0.004882 -0.0075631 -0.003 0.0048834 -0.0075631 0.003 0.0048834 -0.0075986 -0.003 0.0049029 -0.0075986 0.003 0.0049029 -0.0076795 -0.003 0.0049403 -0.0076795 0.003 0.0049403 -0.0078083 -0.003 0.0049886 -0.0078083 0.003 0.0049886 -0.007987 -0.003 0.0050408 -0.007987 0.003 0.0050408 -0.0082165 -0.003 0.0050896 -0.0082165 0.003 0.0050896 -0.008497 -0.003 0.0051276 -0.008497 0.003 0.0051276 -0.0088279 -0.003 0.0051475 -0.0088279 0.003 0.0051475 -0.0089491 -0.003 0.0051488 -0.0089491 0.003 0.0051488 -0.0099687 -0.003 0.0026873 -0.0099687 0.003 0.0026873 -0.0098821 -0.003 0.0026024 -0.0098821 0.003 0.0026024 -0.0096341 -0.003 0.0023825 -0.0096341 0.003 0.0023825 -0.0094088 -0.003 0.0022111 -0.0094088 0.003 0.0022111 -0.009212 -0.003 0.0020833 -0.009212 0.003 0.0020833 -0.0090488 -0.003 0.0019939 -0.0090488 0.003 0.0019939 -0.0089235 -0.003 0.0019369 -0.0089235 0.003 0.0019369 -0.0088399 -0.003 0.0019061 -0.0088399 0.003 0.0019061 -0.008801 -0.003 0.0018949 -0.008801 0.003 0.0018949 -0.0087984 -0.003 0.0018942 -0.0087984 0.003 0.0018942 -0.0062689 -0.003 0.0013497 -0.0062689 0.003 0.0013497"/><mesh name="balance_h6" vertex="-0.0062689 -0.003 -0.0013497 -0.0062689 0.003 -0.0013497 -0.0087984 -0.003 -0.0018942 -0.0087984 0.003 -0.0018942 -0.008801 -0.003 -0.0018949 -0.008801 0.003 -0.0018949 -0.0088399 -0.003 -0.0019061 -0.0088399 0.003 -0.0019061 -0.0089235 -0.003 -0.0019369 -0.0089235 0.003 -0.0019369 -0.0090488 -0.003 -0.0019939 -0.0090488 0.003 -0.0019939 -0.009212 -0.003 -0.0020833 -0.009212 0.003 -0.0020833 -0.0094088 -0.003 -0.0022111 -0.0094088 0.003 -0.0022111 -0.0096341 -0.003 -0.0023825 -0.0096341 0.003 -0.0023825 -0.0098821 -0.003 -0.0026024 -0.0098821 0.003 -0.0026024 -0.0099687 -0.003 -0.0026873 -0.0099687 0.003 -0.0026873 -0.0089491 -0.003 -0.0051488 -0.0089491 0.003 -0.0051488 -0.0088279 -0.003 -0.0051475 -0.0088279 0.003 -0.0051475 -0.008497 -0.003 -0.0051276 -0.008497 0.003 -0.0051276 -0.0082165 -0.003 -0.0050896 -0.0082165 0.003 -0.0050896 -0.007987 -0.003 -0.0050408 -0.007987 0.003 -0.0050408 -0.0078083 -0.003 -0.0049886 -0.0078083 0.003 -0.0049886 -0.0076795 -0.003 -0.0049403 -0.0076795 0.003 -0.0049403 -0.0075986 -0.003 -0.0049029 -0.0075986 0.003 -0.0049029 -0.0075631 -0.003 -0.0048834 -0.0075631 0.003 -0.0048834 -0.0075608 -0.003 -0.004882 -0.0075608 0.003 -0.004882 -0.0053871 -0.003 -0.0034784 -0.0053871 0.003 -0.0034784"/><mesh name="balance_h7" vertex="-0.0034784 -0.003 -0.0053871 -0.0034784 0.003 -0.0053871 -0.004882 -0.003 -0.0075608 -0.004882 0.003 -0.0075608 -0.0048834 -0.003 -0.0075631 -0.0048834 0.003 -0.0075631 -0.0049029 -0.003 -0.0075986 -0.0049029 0.003 -0.0075986 -0.0049403 -0.003 -0.0076795 -0.0049403 0.003 -0.0076795 -0.0049886 -0.003 -0.0078083 -0.0049886 0.003 -0.0078083 -0.0050408 -0.003 -0.007987 -0.0050408 0.003 -0.007987 -0.0050896 -0.003 -0.0082165 -0.0050896 0.003 -0.0082165 -0.0051276 -0.003 -0.008497 -0.0051276 0.003 -0.008497 -0.0051475 -0.003 -0.0088279 -0.0051475 0.003 -0.0088279 -0.0051488 -0.003 -0.0089491 -0.0051488 0.003 -0.0089491 -0.0026873 -0.003 -0.0099687 -0.0026873 0.003 -0.0099687 -0.0026024 -0.003 -0.0098821 -0.0026024 0.003 -0.0098821 -0.0023825 -0.003 -0.0096341 -0.0023825 0.003 -0.0096341 -0.0022111 -0.003 -0.0094088 -0.0022111 0.003 -0.0094088 -0.0020833 -0.003 -0.009212 -0.0020833 0.003 -0.009212 -0.0019939 -0.003 -0.0090488 -0.0019939 0.003 -0.0090488 -0.0019369 -0.003 -0.0089235 -0.0019369 0.003 -0.0089235 -0.0019061 -0.003 -0.0088399 -0.0019061 0.003 -0.0088399 -0.0018949 -0.003 -0.008801 -0.0018949 0.003 -0.008801 -0.0018942 -0.003 -0.0087984 -0.0018942 0.003 -0.0087984 -0.0013497 -0.003 -0.0062689 -0.0013497 0.003 -0.0062689"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0.0000219184595 0" mass="0.1218312699" fullinertia="0.00007844921611 0.0001562938603 0.00007844921611 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_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="wheel_h1" type="mesh" mesh="wheel_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="wheel_h2" type="mesh" mesh="wheel_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="wheel_h3" type="mesh" mesh="wheel_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="wheel_h4" type="mesh" mesh="wheel_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="wheel_h5" type="mesh" mesh="wheel_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="wheel_h6" type="mesh" mesh="wheel_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="wheel_h7" type="mesh" mesh="wheel_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="wheel_h8" type="mesh" mesh="wheel_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="wheel_h9" type="mesh" mesh="wheel_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="wheel_h10" type="mesh" mesh="wheel_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="wheel_h11" type="mesh" mesh="wheel_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"/><geom name="wheel_h12" type="mesh" mesh="wheel_h12" 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_h13" type="mesh" mesh="wheel_h13" 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_h14" type="mesh" mesh="wheel_h14" 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_h15" type="mesh" mesh="wheel_h15" 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_h16" type="mesh" mesh="wheel_h16" 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_h17" type="mesh" mesh="wheel_h17" 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_h18" type="mesh" mesh="wheel_h18" 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_h19" type="mesh" mesh="wheel_h19" 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_h20" type="mesh" mesh="wheel_h20" 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_h21" type="mesh" mesh="wheel_h21" 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_h22" type="mesh" mesh="wheel_h22" 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_h23" type="mesh" mesh="wheel_h23" 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_h24" type="mesh" mesh="wheel_h24" 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_h25" type="mesh" mesh="wheel_h25" 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_h26" type="mesh" mesh="wheel_h26" 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_h27" type="mesh" mesh="wheel_h27" 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_h28" type="mesh" mesh="wheel_h28" 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_h29" type="mesh" mesh="wheel_h29" 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="anchor" pos="0 0 0.0707107"><joint name="j_anchor" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.0002928104541 0 -0.000493627849" mass="0.07368924528" fullinertia="0.00003515324441 0.00006572197474 0.00003095320095 0 8.019698737e-7 0"/><geom name="anchor_h0" type="mesh" mesh="anchor_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="anchor_h1" type="mesh" mesh="anchor_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="anchor_h2" type="mesh" mesh="anchor_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="anchor_h3" type="mesh" mesh="anchor_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="anchor_h4" type="mesh" mesh="anchor_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="anchor_h5" type="mesh" mesh="anchor_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="anchor_h6" type="mesh" mesh="anchor_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="anchor_h7" type="mesh" mesh="anchor_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="anchor_h8" type="mesh" mesh="anchor_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="anchor_h9" type="mesh" mesh="anchor_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"/><geom name="anchor_h10" type="mesh" mesh="anchor_h10" 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="anchor_h11" type="mesh" mesh="anchor_h11" 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="anchor_h12" type="mesh" mesh="anchor_h12" 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="anchor_h13" type="mesh" mesh="anchor_h13" 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="anchor_h14" type="mesh" mesh="anchor_h14" 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="anchor_h15" type="mesh" mesh="anchor_h15" 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="anchor_h16" type="mesh" mesh="anchor_h16" 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="anchor_h17" type="mesh" mesh="anchor_h17" 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="anchor_h18" type="mesh" mesh="anchor_h18" 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="anchor_h19" type="mesh" mesh="anchor_h19" 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="anchor_h20" type="mesh" mesh="anchor_h20" 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="anchor_h21" type="mesh" mesh="anchor_h21" 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="anchor_h22" type="mesh" mesh="anchor_h22" 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="anchor_h23" type="mesh" mesh="anchor_h23" 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="anchor_h24" type="mesh" mesh="anchor_h24" 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="balance" pos="0 0 0.1157107"><joint name="j_bal" type="hinge" axis="0 1 0" damping="0.00008" frictionloss="0" stiffness="0.01385" springref="0"/><inertial pos="0 0.00527936742 0" mass="0.17" fullinertia="0.00007206071302 0.0001345077844 0.00006652270882 0 0 0"/><geom name="balance_h0" type="mesh" mesh="balance_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="balance_h1" type="mesh" mesh="balance_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="balance_h2" type="mesh" mesh="balance_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="balance_h3" type="mesh" mesh="balance_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="balance_h4" type="mesh" mesh="balance_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="balance_h5" type="mesh" mesh="balance_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="balance_h6" type="mesh" mesh="balance_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="balance_h7" type="mesh" mesh="balance_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"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="drive" joint="j_wheel" gear="1" ctrlrange="-0.05 0.05"/></actuator>
</mujoco>
