<mujoco model="371-mangle-wheel-both-faces">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<body name="carriage" pos="0 0 0"><joint name="j_y" type="slide" axis="0 1 0" damping="0.05" frictionloss="0" range="-0.003 0.043" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.2045500194 -0.02 0" mass="0.0753050001" fullinertia="0.000008418852036 0.00002601442481 0.00002601442481 0 0 0"/><geom name="carriage_h0" type="capsule" fromto="-0.13375 -0.02 0 -0.13675 -0.02 0" size="0.005" 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 name="pinion" pos="-0.12 -0.02 0"><joint name="j_p" type="hinge" axis="1 0 0" damping="0.001" frictionloss="0"/><inertial pos="-0.1033533241 0 0" mass="0.4235099375" fullinertia="0.0001719655099 0.001436139332 0.001436139331 0 0 0"/><body name="pg_w" pos="0 0 0" quat="0.7071068 0 0 0.7071068"><geom name="pg_t0" type="mesh" mesh="pg_t0" contype="4" conaffinity="12" 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="pg_t1" type="mesh" mesh="pg_t1" contype="4" conaffinity="12" 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="pg_t2" type="mesh" mesh="pg_t2" contype="4" conaffinity="12" 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="pg_t3" type="mesh" mesh="pg_t3" contype="4" conaffinity="12" 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="pg_t4" type="mesh" mesh="pg_t4" contype="4" conaffinity="12" 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="pg_t5" type="mesh" mesh="pg_t5" contype="4" conaffinity="12" 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="pg_t6" type="mesh" mesh="pg_t6" contype="4" conaffinity="12" 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="pg_t7" type="mesh" mesh="pg_t7" contype="4" conaffinity="12" 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="pg_t8" type="mesh" mesh="pg_t8" contype="4" conaffinity="12" 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="pg_t9" type="mesh" mesh="pg_t9" contype="4" conaffinity="12" 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="pg_root" type="mesh" mesh="pg_root" contype="0" conaffinity="0" group="1" mass="0"/></body>
</body>
</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_p" kv="0.5" forcerange="-1 1"/></actuator>
</mujoco>
