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<body name="pallet_b" pos="0.026 0 0.1"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" range="-0.04 0.06801" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.01996347709 0.008147841264 -0.1236102313" mass="0.05207867583" fullinertia="0.00003654078709 0.00003876030068 0.000005534179937 -0.000002011736096 0.000007583592104 0.000006082766308"/><geom name="pallet_b_h0" type="mesh" mesh="pallet_b_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="pallet_b_h1" type="mesh" mesh="pallet_b_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="pallet_b_h2" type="mesh" mesh="pallet_b_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"/></body>
<body name="pendulum" pos="0 0 0.1"><joint name="j_pend" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.01385575579 0.01 -0.1981464547" mass="2.214247732" fullinertia="0.0007287939537 0.0009894026002 0.0002738390388 0 0.00003196988492 0"/><geom name="pendulum_h0" type="mesh" mesh="pendulum_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"/></body>
<body name="frame" pos="0 0 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="-1 1"/></actuator>
</mujoco>
