<mujoco model="376-tread-wheel-horse-power">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="80" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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type="mesh" mesh="wheel_h117" 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"/><geom name="wheel_h118" type="mesh" mesh="wheel_h118" 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"/><geom name="wheel_h119" type="mesh" mesh="wheel_h119" 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="hx" pos="-0.005145 0 -0.127847"><joint name="j_hx" type="slide" axis="1 0 0" damping="0.5" frictionloss="0"/><inertial pos="0 0 0" mass="0.01" fullinertia="3.958333333e-9 1.25e-9 3.958333333e-9 0 0 0"/><body name="hz" pos="0 0 0"><joint name="j_hz" type="slide" axis="0 0 1" damping="0.5" frictionloss="0"/><inertial pos="0 0 0" mass="0.01" fullinertia="3.958333333e-9 1.25e-9 3.958333333e-9 0 0 0"/><body name="horse" pos="0 0 0"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0" range="-0.35 0.35" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.03162759579 -0.0003160424716 0.07971691877" mass="2" fullinertia="0.003865475381 0.007088276756 0.003293789546 -0.000001184427171 0.002667778629 -0.00003217567617"/><body name="tread" pos="0 0 0"><joint name="j_f" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="1" fullinertia="0.000045 0.000072 0.000045 0 0 0"/><geom name="tread_h0" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.012" contype="8" conaffinity="16" condim="3" friction="1.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="fore" pos="-0.076937 0 0.029695"><joint name="j_g" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="0.1" fullinertia="0.0000045 0.0000072 0.0000045 0 0 0"/><geom name="fore_h0" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.012" contype="8" conaffinity="16" condim="3" friction="1.3 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
</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_f" kv="0.08" forcerange="-5 5"/></actuator>
</mujoco>
