<mujoco model="357-gyroscope-governor">
<compiler angle="radian" autolimits="true"/>
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<size memory="64M"/>
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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><connect name="u_top" body1="cross" body2="wheel_a" anchor="0 0 0.008" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="u_bot" body1="cross" body2="wheel_a" anchor="0 0 -0.008" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="cross" body2="wheel_a"/><exclude body1="cross" body2="wheel_a"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="20" forcerange="-60 60"/></actuator>
</mujoco>
