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<compiler angle="radian" autolimits="true"/>
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</body>
<body name="wheel" pos="0 0 0"><joint name="j_g" type="hinge" axis="0 -1 0" damping="0.03" frictionloss="0"/><inertial pos="0 0 0" mass="0.5399257373" fullinertia="0.001756940127 0.003489870284 0.001756940127 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" 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="wheel_h1" type="mesh" mesh="wheel_h1" 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="wheel_h2" type="mesh" mesh="wheel_h2" 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="wheel_h3" type="mesh" mesh="wheel_h3" 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="wheel_h4" type="mesh" mesh="wheel_h4" 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="wheel_h5" type="mesh" mesh="wheel_h5" 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="wheel_h6" type="mesh" mesh="wheel_h6" 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="wheel_h7" type="mesh" mesh="wheel_h7" 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="wheel_h8" type="mesh" mesh="wheel_h8" 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="wheel_h9" type="mesh" mesh="wheel_h9" 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="wheel_h10" type="mesh" mesh="wheel_h10" 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="wheel_h11" type="mesh" mesh="wheel_h11" 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="wheel_h12" type="mesh" mesh="wheel_h12" 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="wheel_h13" type="mesh" mesh="wheel_h13" 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="wheel_h14" type="mesh" mesh="wheel_h14" 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="wheel_h15" type="mesh" mesh="wheel_h15" 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="catch_l" pos="-0.182183 0 0.071434"><joint name="j_catch_l" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="0 1.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.02" springref="-0.15"/><inertial pos="0.001279362845 0.02 0.04022822284" mass="0.02" fullinertia="0.00001334084179 0.00001316881616 3.515595793e-7 0 -3.537629604e-7 0"/><geom name="catch_l_h0" type="mesh" mesh="catch_l_h0" 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="catch_r" pos="0.187895 0 0.092398"><joint name="j_catch_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0" range="0 1.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.02" springref="-0.15"/><inertial pos="0.001206626074 0.02 0.02658978886" mass="0.02" fullinertia="0.000006991236439 0.000006812353097 3.603684241e-7 0 -2.443926399e-7 0"/><geom name="catch_r_h0" type="mesh" mesh="catch_r_h0" 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"><geom name="frame_h0" type="mesh" mesh="frame_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h1" type="mesh" mesh="frame_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h2" type="mesh" mesh="frame_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h3" type="mesh" mesh="frame_h3" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h4" type="mesh" mesh="frame_h4" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h5" type="mesh" mesh="frame_h5" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h6" type="mesh" mesh="frame_h6" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h7" type="mesh" mesh="frame_h7" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h8" type="mesh" mesh="frame_h8" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="frame_h9" type="mesh" mesh="frame_h9" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="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_c" kv="1000000" forcerange="-2000 2000"/></actuator>
</mujoco>
