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solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h153" type="mesh" mesh="wheel_h153" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h154" type="mesh" mesh="wheel_h154" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h155" type="mesh" mesh="wheel_h155" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h156" type="mesh" mesh="wheel_h156" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h157" type="mesh" mesh="wheel_h157" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h158" type="mesh" mesh="wheel_h158" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h159" type="mesh" mesh="wheel_h159" contype="8" conaffinity="16" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="cart_x" pos="0 0 0.156726"><joint name="j_x" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 0 0" mass="0.05" fullinertia="2.5e-8 1.625e-7 1.625e-7 0 0 0"/><body name="cart_z" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.01 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0" mass="0.05" fullinertia="1.625e-7 2.5e-8 1.625e-7 0 0 0"/><body name="wagon" pos="0 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0" range="-0.3 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0003996227816 -0.0000495494559 0.03105683109" mass="3" fullinertia="0.001051644426 0.00314195314 0.002775961555 0.000002580352303 -0.000001354264658 -0.00000410376026"/><body name="ww0" pos="-0.032 0 -0.002"><joint name="j_a0" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0.05"/><inertial pos="0 0 0" mass="0.2272540161" fullinertia="0.00003620214389 0.00003370125109 0.00003620214389 0 0 0"/><geom name="ww0_h0" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.018" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="ww1" pos="0.032 0 -0.002"><joint name="j_a1" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0.05"/><inertial pos="0 0 0" mass="0.2272540161" fullinertia="0.00003620214389 0.00003370125109 0.00003620214389 0 0 0"/><geom name="ww1_h0" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.018" contype="16" conaffinity="8" condim="3" friction="0.9 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="rod" pos="0.049 -0.01 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0605 0 0" mass="0.05" fullinertia="1.21e-7 0.00006106466667 0.00006106466667 0 0 0"/></body>
</body>
</body>
</body>
<body name="dial" pos="0.17 0 0.126726"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" stiffness="0.5" springref="0"/><inertial pos="0 -0.009650435711 0.005069413143" mass="0.1" fullinertia="0.00001216919399 0.000009822974737 0.000003654792757 0 0 0.000001558420637"/></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><connect name="p_arm" body1="rod" body2="dial" anchor="0.121 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="dial"/></contact>
<actuator><velocity name="drive" joint="j_w" kv="5" forcerange="-20 20"/></actuator>
</mujoco>
