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mass="0"/><geom name="wheel_h70" type="mesh" mesh="wheel_h70" contype="16" conaffinity="8" condim="3" friction="1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h71" type="mesh" mesh="wheel_h71" contype="16" conaffinity="8" condim="3" friction="1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="wheel_h72" type="mesh" mesh="wheel_h72" contype="16" conaffinity="8" condim="3" friction="1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
</body>
</body>
</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_arm" kv="3" forcerange="-5 5"/></actuator>
</mujoco>
