<mujoco model="364-intermittent-right-angle-rollers">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0.01"/><inertial pos="1.507849112e-8 0.005912922426 -5.959899877e-9" mass="1.099798396" fullinertia="0.002742056135 0.005356547458 0.00274205726 2.307221712e-10 7.68583254e-10 -9.119487015e-11"/><geom name="wheel_h0" type="capsule" fromto="0.055597 -0.008 -0.006704 0.09531 -0.008 0.011492" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="0.050396 -0.008 0.024418 0.073966 -0.008 0.061196" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="0.029194 -0.008 0.047788 0.029139 -0.008 0.091471" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.001277 -0.008 0.055985 -0.024939 -0.008 0.092704" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.031342 -0.008 0.046408 -0.0711 -0.008 0.064504" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.051457 -0.008 0.022096 -0.094687 -0.008 0.015825" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.055234 -0.008 -0.009231 -0.088211 -0.008 -0.037879" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.041475 -0.008 -0.037628 -0.053729 -0.008 -0.079556" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="-0.014548 -0.008 -0.054077 -0.002189 -0.008 -0.095975" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="0.016998 -0.008 -0.053358 0.050047 -0.008 -0.081923" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 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="capsule" fromto="0.043147 -0.008 -0.035698 0.086393 -0.008 -0.04186" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="driver" pos="-0.078 -0.048 0"><joint name="j_d" type="hinge" axis="1 0 0" damping="0.001" frictionloss="0"/><inertial pos="-0.1102567447 0 0" mass="0.5187086161" fullinertia="0.0005968927181 0.0007042103494 0.0006994915022 0 0 -0.000002161222323"/><geom name="driver_h0" type="capsule" fromto="0 0.011595 0.029825 0 0.015219 0.039146" size="0.0055" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="driver_h1" type="capsule" fromto="0 -0.011595 -0.029825 0 -0.015219 -0.039146" size="0.0055" contype="16" conaffinity="8" condim="3" friction="0.05 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><velocity name="drive" joint="j_d" kv="1" forcerange="-10 10"/></actuator>
</mujoco>
