<mujoco model="402-guernsey-double-balance-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="wheel_h0" vertex="-0.00530248935 -0.0025 0.038637852 -0.00530248935 0.0025 0.038637852 -0.00183168918 -0.0025 0.0389569623 -0.00183168918 0.0025 0.0389569623 -0.00607672729 -0.0025 0.0440831417 -0.00607672729 0.0025 0.0440831417 -0.0105199791 -0.0025 0.0488807737 -0.0105199791 0.0025 0.0488807737"/><mesh name="wheel_h1" vertex="-0.0132198784 -0.0025 0.0366910727 -0.0132198784 0.0025 0.0366910727 -0.00989127029 -0.0025 0.0377248296 -0.00989127029 0.0025 0.0377248296 -0.0151093367 -0.0025 0.0418563967 -0.0151093367 0.0025 0.0418563967 -0.0204529766 -0.0025 0.0456253849 -0.0204529766 0.0025 0.0456253849"/><mesh name="wheel_h2" vertex="-0.0205594953 -0.0025 0.0331407175 -0.0205594953 0.0025 0.0331407175 -0.0175185554 -0.0025 0.0348439409 -0.0175185554 0.0025 0.0348439409 -0.0234815957 -0.0025 0.0378003262 -0.0234815957 0.0025 0.0378003262 -0.0294920809 -0.0025 0.0403759478 -0.0294920809 0.0025 0.0403759478"/><mesh name="wheel_h3" vertex="-0.0270005636 -0.0025 0.0281419538 -0.0270005636 0.0025 0.0281419538 -0.0243801956 -0.0025 0.0304402047 -0.0243801956 0.0025 0.0304402047 -0.0308275962 -0.0025 0.0320922002 -0.0308275962 0.0025 0.0320922002 -0.0372422398 -0.0025 0.0333618881 -0.0372422398 0.0025 0.0333618881"/><mesh name="wheel_h4" vertex="-0.0322615777 -0.0025 0.0219132518 -0.0322615777 0.0025 0.0219132518 -0.0301763043 -0.0025 0.0247060855 -0.0301763043 0.0025 0.0247060855 -0.0368262829 -0.0025 0.0249814909 -0.0368262829 0.0025 0.0249814909 -0.0433647341 -0.0025 0.0248897537 -0.0433647341 0.0025 0.0248897537"/><mesh name="wheel_h5" vertex="-0.036112606 -0.0025 0.0147268355 -0.036112606 0.0025 0.0147268355 -0.0346535636 -0.0025 0.0178921918 -0.0346535636 0.0025 0.0178921918 -0.0412154843 -0.0025 0.0167789707 -0.0412154843 0.0025 0.0167789707 -0.0475919814 -0.0025 0.0153298177 -0.0475919814 0.0025 0.0153298177"/><mesh name="wheel_h6" vertex="-0.0383853402 -0.0025 0.00689678584 -0.0383853402 0.0025 0.00689678584 -0.037616296 -0.0025 0.0102963235 -0.037616296 0.0025 0.0102963235 -0.0438033712 -0.0025 0.00784312888 -0.0438033712 0.0025 0.00784312888 -0.0497392307 -0.0025 0.0050998951 -0.0497392307 0.0025 0.0050998951"/><mesh name="wheel_h7" vertex="-0.0389804509 -0.0025 -0.00123468646 -0.0389804509 0.0025 -0.00123468646 -0.0389350157 -0.0025 0.00225045641 -0.0389350157 0.0025 0.00225045641 -0.0444768406 -0.0025 -0.00143549528 -0.0444768406 0.0025 -0.00143549528 -0.049712637 -0.0025 -0.0053529174 -0.049712637 0.0025 -0.0053529174"/><mesh name="wheel_h8" vertex="-0.0378719287 -0.0025 -0.00931219705 -0.0378719287 0.0025 -0.00931219705 -0.0385520884 -0.0025 -0.0058937664 -0.0385520884 0.0025 -0.0058937664 -0.0432064587 -0.0025 -0.0106513814 -0.0432064587 0.0025 -0.0106513814 -0.0475133625 -0.0025 -0.0155717817 -0.0475133625 0.0025 -0.0155717817"/><mesh name="wheel_h9" vertex="-0.0351082216 -0.0025 -0.0169827199 -0.0351082216 0.0025 -0.0169827199 -0.0364842498 -0.0025 -0.0137804033 -0.0364842498 0.0025 -0.0137804033 -0.0400477472 -0.0025 -0.019401751 -0.0400477472 0.0025 -0.019401751 -0.043237526 -0.0025 -0.0251100845 -0.043237526 0.0025 -0.0251100845"/><mesh name="wheel_h10" vertex="-0.0308101167 -0.0025 -0.0239110165 -0.0308101167 0.0025 -0.0239110165 -0.0328218744 -0.0025 -0.0210647705 -0.0328218744 0.0025 -0.0210647705 -0.035138757 -0.0025 -0.0273041711 -0.035138757 0.0025 -0.0273041711 -0.0370720022 -0.0025 -0.033550956 -0.0370720022 0.0025 -0.033550956"/><mesh name="wheel_h11" vertex="-0.0251654619 -0.0025 -0.0297942869 -0.0251654619 0.0025 -0.0297942869 -0.0277250257 -0.0025 -0.0274285062 -0.0277250257 0.0025 -0.0274285062 -0.0286940345 -0.0025 -0.0340132678 -0.0286940345 0.0025 -0.0340132678 -0.0292862541 -0.0025 -0.0405254898 -0.0292862541 0.0025 -0.0405254898"/><mesh name="wheel_h12" vertex="-0.0184209556 -0.0025 -0.0343754039 -0.0184209556 0.0025 -0.0343754039 -0.0214164603 -0.0025 -0.0325934845 -0.0214164603 0.0025 -0.0325934845 -0.0209952449 -0.0025 -0.0392358215 -0.0209952449 0.0025 -0.0392358215 -0.020220556 -0.0025 -0.0457288652 -0.020220556 0.0025 -0.0457288652"/><mesh name="wheel_h13" vertex="-0.0108713652 -0.0025 -0.0374541509 -0.0108713652 0.0025 -0.0374541509 -0.0141718928 -0.0025 -0.0363339711 -0.0141718928 0.0025 -0.0363339711 -0.0123788625 -0.0025 -0.0427435816 -0.0123788625 0.0025 -0.0427435816 -0.0102711227 -0.0025 -0.0489336698 -0.0102711227 0.0025 -0.0489336698"/><mesh name="wheel_h14" vertex="-0.0028466439 -0.0025 -0.0388959718 -0.0028466439 0.0025 -0.0388959718 -0.00630794553 -0.0025 -0.0384864888 -0.00630794553 0.0025 -0.0384864888 -0.00322146432 -0.0025 -0.044383242 -0.00322146432 0.0025 -0.044383242 0.000127208011 -0.0025 -0.0499998382 0.000127208011 0.0025 -0.0499998382"/><mesh name="wheel_h15" vertex="0.00530248935 -0.0025 -0.038637852 0.00530248935 0.0025 -0.038637852 0.00183168918 -0.0025 -0.0389569623 0.00183168918 0.0025 -0.0389569623 0.00607672729 -0.0025 -0.0440831417 0.00607672729 0.0025 -0.0440831417 0.0105199791 -0.0025 -0.0488807737 0.0105199791 0.0025 -0.0488807737"/><mesh name="wheel_h16" vertex="0.0132198784 -0.0025 -0.0366910727 0.0132198784 0.0025 -0.0366910727 0.00989127029 -0.0025 -0.0377248296 0.00989127029 0.0025 -0.0377248296 0.0151093367 -0.0025 -0.0418563967 0.0151093367 0.0025 -0.0418563967 0.0204529766 -0.0025 -0.0456253849 0.0204529766 0.0025 -0.0456253849"/><mesh name="wheel_h17" vertex="0.0205594953 -0.0025 -0.0331407175 0.0205594953 0.0025 -0.0331407175 0.0175185554 -0.0025 -0.0348439409 0.0175185554 0.0025 -0.0348439409 0.0234815957 -0.0025 -0.0378003262 0.0234815957 0.0025 -0.0378003262 0.0294920809 -0.0025 -0.0403759478 0.0294920809 0.0025 -0.0403759478"/><mesh name="wheel_h18" vertex="0.0270005636 -0.0025 -0.0281419538 0.0270005636 0.0025 -0.0281419538 0.0243801956 -0.0025 -0.0304402047 0.0243801956 0.0025 -0.0304402047 0.0308275962 -0.0025 -0.0320922002 0.0308275962 0.0025 -0.0320922002 0.0372422398 -0.0025 -0.0333618881 0.0372422398 0.0025 -0.0333618881"/><mesh name="wheel_h19" vertex="0.0322615777 -0.0025 -0.0219132518 0.0322615777 0.0025 -0.0219132518 0.0301763043 -0.0025 -0.0247060855 0.0301763043 0.0025 -0.0247060855 0.0368262829 -0.0025 -0.0249814909 0.0368262829 0.0025 -0.0249814909 0.0433647341 -0.0025 -0.0248897537 0.0433647341 0.0025 -0.0248897537"/><mesh name="wheel_h20" vertex="0.036112606 -0.0025 -0.0147268355 0.036112606 0.0025 -0.0147268355 0.0346535636 -0.0025 -0.0178921918 0.0346535636 0.0025 -0.0178921918 0.0412154843 -0.0025 -0.0167789707 0.0412154843 0.0025 -0.0167789707 0.0475919814 -0.0025 -0.0153298177 0.0475919814 0.0025 -0.0153298177"/><mesh name="wheel_h21" vertex="0.0383853402 -0.0025 -0.00689678584 0.0383853402 0.0025 -0.00689678584 0.037616296 -0.0025 -0.0102963235 0.037616296 0.0025 -0.0102963235 0.0438033712 -0.0025 -0.00784312888 0.0438033712 0.0025 -0.00784312888 0.0497392307 -0.0025 -0.0050998951 0.0497392307 0.0025 -0.0050998951"/><mesh name="wheel_h22" vertex="0.0389804509 -0.0025 0.00123468646 0.0389804509 0.0025 0.00123468646 0.0389350157 -0.0025 -0.00225045641 0.0389350157 0.0025 -0.00225045641 0.0444768406 -0.0025 0.00143549528 0.0444768406 0.0025 0.00143549528 0.049712637 -0.0025 0.0053529174 0.049712637 0.0025 0.0053529174"/><mesh name="wheel_h23" vertex="0.0378719287 -0.0025 0.00931219705 0.0378719287 0.0025 0.00931219705 0.0385520884 -0.0025 0.0058937664 0.0385520884 0.0025 0.0058937664 0.0432064587 -0.0025 0.0106513814 0.0432064587 0.0025 0.0106513814 0.0475133625 -0.0025 0.0155717817 0.0475133625 0.0025 0.0155717817"/><mesh name="wheel_h24" vertex="0.0351082216 -0.0025 0.0169827199 0.0351082216 0.0025 0.0169827199 0.0364842498 -0.0025 0.0137804033 0.0364842498 0.0025 0.0137804033 0.0400477472 -0.0025 0.019401751 0.0400477472 0.0025 0.019401751 0.043237526 -0.0025 0.0251100845 0.043237526 0.0025 0.0251100845"/><mesh name="wheel_h25" vertex="0.0308101167 -0.0025 0.0239110165 0.0308101167 0.0025 0.0239110165 0.0328218744 -0.0025 0.0210647705 0.0328218744 0.0025 0.0210647705 0.035138757 -0.0025 0.0273041711 0.035138757 0.0025 0.0273041711 0.0370720022 -0.0025 0.033550956 0.0370720022 0.0025 0.033550956"/><mesh name="wheel_h26" vertex="0.0251654619 -0.0025 0.0297942869 0.0251654619 0.0025 0.0297942869 0.0277250257 -0.0025 0.0274285062 0.0277250257 0.0025 0.0274285062 0.0286940345 -0.0025 0.0340132678 0.0286940345 0.0025 0.0340132678 0.0292862541 -0.0025 0.0405254898 0.0292862541 0.0025 0.0405254898"/><mesh name="wheel_h27" vertex="0.0184209556 -0.0025 0.0343754039 0.0184209556 0.0025 0.0343754039 0.0214164603 -0.0025 0.0325934845 0.0214164603 0.0025 0.0325934845 0.0209952449 -0.0025 0.0392358215 0.0209952449 0.0025 0.0392358215 0.020220556 -0.0025 0.0457288652 0.020220556 0.0025 0.0457288652"/><mesh name="wheel_h28" vertex="0.0108713652 -0.0025 0.0374541509 0.0108713652 0.0025 0.0374541509 0.0141718928 -0.0025 0.0363339711 0.0141718928 0.0025 0.0363339711 0.0123788625 -0.0025 0.0427435816 0.0123788625 0.0025 0.0427435816 0.0102711227 -0.0025 0.0489336698 0.0102711227 0.0025 0.0489336698"/><mesh name="wheel_h29" vertex="0.0028466439 -0.0025 0.0388959718 0.0028466439 0.0025 0.0388959718 0.00630794553 -0.0025 0.0384864888 0.00630794553 0.0025 0.0384864888 0.00322146432 -0.0025 0.044383242 0.00322146432 0.0025 0.044383242 -0.000127208011 -0.0025 0.0499998382 -0.000127208011 0.0025 0.0499998382"/><mesh name="anchor_h0" vertex="0.046505 -0.0035 0.0241439 0.046505 0.0035 0.0241439 0.0471211 -0.0035 0.0229183 0.0471211 0.0035 0.0229183 0.0435907 -0.0035 0.0212012 0.0435907 0.0035 0.0212012 0.0430208 -0.0035 0.022335 0.0430208 0.0035 0.022335"/><mesh name="anchor_h1" vertex="0.0471211 -0.0035 0.0229183 0.0471211 0.0035 0.0229183 0.0477049 -0.0035 0.0216769 0.0477049 0.0035 0.0216769 0.0441308 -0.0035 0.0200529 0.0441308 0.0035 0.0200529 0.0435907 -0.0035 0.0212012 0.0435907 0.0035 0.0212012"/><mesh name="anchor_h2" vertex="0.0477049 -0.0035 0.0216769 0.0477049 0.0035 0.0216769 0.048256 -0.0035 0.0204207 0.048256 0.0035 0.0204207 0.0446406 -0.0035 0.0188908 0.0446406 0.0035 0.0188908 0.0441308 -0.0035 0.0200529 0.0441308 0.0035 0.0200529"/><mesh name="anchor_h3" vertex="0.048256 -0.0035 0.0204207 0.048256 0.0035 0.0204207 0.048774 -0.0035 0.0191505 0.048774 0.0035 0.0191505 0.0451198 -0.0035 0.0177157 0.0451198 0.0035 0.0177157 0.0446406 -0.0035 0.0188908 0.0446406 0.0035 0.0188908"/><mesh name="anchor_h4" vertex="0.048774 -0.0035 0.0191505 0.048774 0.0035 0.0191505 0.0492586 -0.0035 0.0178672 0.0492586 0.0035 0.0178672 0.0455681 -0.0035 0.0165286 0.0455681 0.0035 0.0165286 0.0451198 -0.0035 0.0177157 0.0451198 0.0035 0.0177157"/><mesh name="anchor_h5" vertex="0.0492586 -0.0035 0.0178672 0.0492586 0.0035 0.0178672 0.0497094 -0.0035 0.0165716 0.0497094 0.0035 0.0165716 0.0459851 -0.0035 0.0153301 0.0459851 0.0035 0.0153301 0.0455681 -0.0035 0.0165286 0.0455681 0.0035 0.0165286"/><mesh name="anchor_h6" vertex="0.0497094 -0.0035 0.0165716 0.0497094 0.0035 0.0165716 0.0501262 -0.0035 0.0152647 0.0501262 0.0035 0.0152647 0.0463707 -0.0035 0.0141211 0.0463707 0.0035 0.0141211 0.0459851 -0.0035 0.0153301 0.0459851 0.0035 0.0153301"/><mesh name="anchor_h7" vertex="0.0501262 -0.0035 0.0152647 0.0501262 0.0035 0.0152647 0.0505086 -0.0035 0.0139473 0.0505086 0.0035 0.0139473 0.0467244 -0.0035 0.0129024 0.0467244 0.0035 0.0129024 0.0463707 -0.0035 0.0141211 0.0463707 0.0035 0.0141211"/><mesh name="anchor_h8" vertex="0.0465867 -0.0035 0.0133911 0.0465867 0.0035 0.0133911 0.0472427 -0.0035 0.0108521 0.0472427 0.0035 0.0108521 0.0505087 -0.0035 0.0139474 0.0505087 0.0035 0.0139474 0.0503598 -0.0035 0.0144756 0.0503598 0.0035 0.0144756"/><mesh name="anchor_h9" vertex="0.0129616 -0.0035 -0.0498701 0.0129616 0.0035 -0.0498701 0.0116517 -0.0035 -0.0501923 0.0116517 0.0035 -0.0501923 0.010764 -0.0035 -0.0463682 0.010764 0.0035 -0.0463682 0.0119741 -0.0035 -0.0460705 0.0119741 0.0035 -0.0460705"/><mesh name="anchor_h10" vertex="0.0116517 -0.0035 -0.0501923 0.0116517 0.0035 -0.0501923 0.0103339 -0.0035 -0.0504801 0.0103339 0.0035 -0.0504801 0.0095465 -0.0035 -0.046634 0.0095465 0.0035 -0.046634 0.010764 -0.0035 -0.0463682 0.010764 0.0035 -0.0463682"/><mesh name="anchor_h11" vertex="0.0103339 -0.0035 -0.0504801 0.0103339 0.0035 -0.0504801 0.0090089 -0.0035 -0.0507333 0.0090089 0.0035 -0.0507333 0.0083225 -0.0035 -0.046868 0.0083225 0.0035 -0.046868 0.0095465 -0.0035 -0.046634 0.0095465 0.0035 -0.046634"/><mesh name="anchor_h12" vertex="0.0090089 -0.0035 -0.0507333 0.0090089 0.0035 -0.0507333 0.0076778 -0.0035 -0.0509517 0.0076778 0.0035 -0.0509517 0.0070928 -0.0035 -0.0470698 0.0070928 0.0035 -0.0470698 0.0083225 -0.0035 -0.046868 0.0083225 0.0035 -0.046868"/><mesh name="anchor_h13" vertex="0.0076778 -0.0035 -0.0509517 0.0076778 0.0035 -0.0509517 0.0063414 -0.0035 -0.0511353 0.0063414 0.0035 -0.0511353 0.0058582 -0.0035 -0.0472393 0.0058582 0.0035 -0.0472393 0.0070928 -0.0035 -0.0470698 0.0070928 0.0035 -0.0470698"/><mesh name="anchor_h14" vertex="0.0063414 -0.0035 -0.0511353 0.0063414 0.0035 -0.0511353 0.0050006 -0.0035 -0.0512837 0.0050006 0.0035 -0.0512837 0.0046196 -0.0035 -0.0473765 0.0046196 0.0035 -0.0473765 0.0058582 -0.0035 -0.0472393 0.0058582 0.0035 -0.0472393"/><mesh name="anchor_h15" vertex="0.0050006 -0.0035 -0.0512837 0.0050006 0.0035 -0.0512837 0.0036565 -0.0035 -0.0513971 0.0036565 0.0035 -0.0513971 0.0033779 -0.0035 -0.0474812 0.0033779 0.0035 -0.0474812 0.0046196 -0.0035 -0.0473765 0.0046196 0.0035 -0.0473765"/><mesh name="anchor_h16" vertex="0.0036565 -0.0035 -0.0513971 0.0036565 0.0035 -0.0513971 0.0023098 -0.0035 -0.0514752 0.0023098 0.0035 -0.0514752 0.0021338 -0.0035 -0.0475533 0.0021338 0.0035 -0.0475533 0.0033779 -0.0035 -0.0474812 0.0033779 0.0035 -0.0474812"/><mesh name="anchor_h17" vertex="0.0124388 -0.0035 -0.0500031 0.0124388 0.0035 -0.0500031 0.0151246 -0.0035 -0.0492573 0.0151246 0.0035 -0.0492573 0.0119742 -0.0035 -0.0460705 0.0119742 0.0035 -0.0460705 0.0114911 -0.0035 -0.0461934 0.0114911 0.0035 -0.0461934"/><mesh name="anchor_h18" vertex="-0.0743333 -0.003 0.0447321 -0.0743333 0.003 0.0447321 -0.0773256 -0.003 0.0393338 -0.0773256 0.003 0.0393338 -0.0813052 -0.003 0.0439117 -0.0813052 0.003 0.0439117 -0.0803245 -0.003 0.045681 -0.0803245 0.003 0.045681"/><mesh name="anchor_h19" vertex="-0.0035428 -0.003 0.0695171 -0.0035428 0.003 0.0695171 -0.0055613 -0.003 0.0693848 -0.0055613 0.003 0.0693848 -0.0080043 -0.003 0.0749369 -0.0080043 0.003 0.0749369 -0.0018454 -0.003 0.0753406 -0.0018454 0.003 0.0753406"/><mesh name="anchor_h20" vertex="-0.0786019 -0.003 0.0367171 -0.0786019 0.003 0.0367171 -0.0810136 -0.003 0.0310356 -0.0810136 0.003 0.0310356 -0.0854498 -0.003 0.0351725 -0.0854498 0.003 0.0351725 -0.0846594 -0.003 0.0370345 -0.0846594 0.003 0.0370345"/><mesh name="anchor_h21" vertex="-0.0125863 -0.003 0.0684599 -0.0125863 0.003 0.0684599 -0.0145702 -0.003 0.0680653 -0.0145702 0.003 0.0680653 -0.017717 -0.003 0.073251 -0.017717 0.003 0.073251 -0.0116635 -0.003 0.0744551 -0.0116635 0.003 0.0744551"/><mesh name="anchor_h22" vertex="-0.0820093 -0.003 0.0282998 -0.0820093 0.003 0.0282998 -0.0838139 -0.003 0.0223974 -0.0838139 0.003 0.0223974 -0.0886582 -0.003 0.0260479 -0.0886582 0.003 0.0260479 -0.0880668 -0.003 0.0279823 -0.0880668 0.003 0.0279823"/><mesh name="anchor_h23" vertex="-0.0214144 -0.003 0.0662314 -0.0214144 0.003 0.0662314 -0.0233299 -0.003 0.0655812 -0.0233299 0.003 0.0655812 -0.0271266 -0.003 0.0703118 -0.0271266 0.003 0.0703118 -0.0212821 -0.003 0.0722958 -0.0212821 0.003 0.0722958"/><mesh name="anchor_h24" vertex="-0.0845182 -0.003 0.0195724 -0.0845182 0.003 0.0195724 -0.0856959 -0.003 0.0135137 -0.0856959 0.003 0.0135137 -0.0908953 -0.003 0.0166379 -0.0908953 0.003 0.0166379 -0.0905093 -0.003 0.0186235 -0.0905093 0.003 0.0186235"/><mesh name="anchor_h25" vertex="-0.0298761 -0.003 0.0628696 -0.0298761 0.003 0.0628696 -0.0316904 -0.003 0.061975 -0.0316904 0.003 0.061975 -0.0360721 -0.003 0.0661695 -0.0360721 0.003 0.0661695 -0.0305365 -0.003 0.0688994 -0.0305365 0.003 0.0688994"/><mesh name="anchor_h26" vertex="-0.0861011 -0.003 0.0106307 -0.0861011 0.003 0.0106307 -0.086639 -0.003 0.004482 -0.086639 0.003 0.004482 -0.0921365 -0.003 0.0070456 -0.0921365 0.003 0.0070456 -0.0919602 -0.003 0.0090607 -0.0919602 0.003 0.0090607"/><mesh name="anchor_h27" vertex="-0.0378267 -0.003 0.0584322 -0.0378267 0.003 0.0584322 -0.0395086 -0.003 0.0573083 -0.0395086 0.003 0.0573083 -0.0444004 -0.003 0.0608951 -0.0444004 0.003 0.0608951 -0.0392684 -0.003 0.0643241 -0.0392684 0.003 0.0643241"/><mesh name="anchor_h28" vertex="-0.0867406 -0.003 0.0015724 -0.0867406 0.003 0.0015724 -0.0866329 -0.003 -0.0045988 -0.0866329 0.003 -0.0045988 -0.0923682 -0.003 -0.0026239 -0.0923682 0.003 -0.0026239 -0.0924035 -0.003 -0.0006014 -0.0924035 0.003 -0.0006014"/><mesh name="anchor_h29" vertex="-0.04513 -0.003 0.0529949 -0.04513 0.003 0.0529949 -0.0466509 -0.003 0.0516611 -0.0466509 0.003 0.0516611 -0.0519689 -0.003 0.0545787 -0.0519689 0.003 0.0545787 -0.0473285 -0.003 0.0586483 -0.0473285 0.003 0.0586483"/><mesh name="anchor_h30" vertex="-0.0864298 -0.003 -0.0075031 -0.0864298 0.003 -0.0075031 -0.0856776 -0.003 -0.0136292 -0.0856776 0.003 -0.0136292 -0.091588 -0.003 -0.0122647 -0.091588 0.003 -0.0122647 -0.0918345 -0.003 -0.0102569 -0.0918345 0.003 -0.0102569"/><mesh name="anchor_h31" vertex="-0.0516611 -0.003 0.0466508 -0.0516611 0.003 0.0466508 -0.0529949 -0.003 0.04513 -0.0529949 0.003 0.04513 -0.0586483 -0.003 0.0473285 -0.0586483 0.003 0.0473285 -0.0545787 -0.003 0.0519689 -0.0545787 0.003 0.0519689"/><mesh name="anchor_h32" vertex="-0.0851721 -0.003 -0.0164963 -0.0851721 0.003 -0.0164963 -0.0837836 -0.003 -0.0225103 -0.0837836 0.003 -0.0225103 -0.0898042 -0.003 -0.021771 -0.0898042 0.003 -0.021771 -0.0902593 -0.003 -0.0198 -0.0902593 0.003 -0.0198"/><mesh name="anchor_h33" vertex="-0.0573083 -0.003 0.0395086 -0.0573083 0.003 0.0395086 -0.0584322 -0.003 0.0378267 -0.0584322 0.003 0.0378267 -0.0643241 -0.003 0.0392684 -0.0643241 0.003 0.0392684 -0.0608951 -0.003 0.0444004 -0.0608951 0.003 0.0444004"/><mesh name="bal1_h0" vertex="0.0111567 -0.004 -0.0046844 0.0111567 0.004 -0.0046844 0.0120156 -0.004 0.0014277 0.0120156 0.004 0.0014277 0.0173714 -0.004 -0.0014201 0.0173714 0.004 -0.0014201 0.0170899 -0.004 -0.0034232 0.0170899 0.004 -0.0034232"/><mesh name="bal1_h1" vertex="0.0117793 -0.004 0.002768 0.0117793 0.004 0.002768 0.0088817 -0.004 0.0082176 0.0088817 0.004 0.0082176 0.0148885 -0.004 0.0090618 0.0148885 0.004 0.0090618 0.0158381 -0.004 0.0072757 0.0158381 0.004 0.0072757"/><mesh name="bal1_h2" vertex="0.0079027 -0.004 0.009163 0.0079027 0.004 0.009163 0.0023552 -0.004 0.0118687 0.0023552 0.004 0.0118687 0.0067186 -0.004 0.0160824 0.0067186 0.004 0.0160824 0.0085367 -0.004 0.0151956 0.0085367 0.004 0.0151956"/><mesh name="bal1_h3" vertex="0.0010075 -0.004 0.0120581 0.0010075 0.004 0.0120581 -0.0050708 -0.004 0.0109863 -0.0050708 0.004 0.0109863 -0.0040175 -0.004 0.01696 -0.0040175 0.004 0.01696 -0.0020254 -0.004 0.0173113 -0.0020254 0.004 0.0173113"/><mesh name="bal1_h4" vertex="-0.0062725 -0.004 0.0103474 -0.0062725 0.004 0.0103474 -0.01056 -0.004 0.0059076 -0.01056 0.004 0.0059076 -0.0132191 -0.004 0.0113595 -0.0132191 0.004 0.0113595 -0.0118139 -0.004 0.0128146 -0.0118139 0.004 0.0128146"/><mesh name="bal1_h5" vertex="-0.0111566 -0.004 0.0046843 -0.0111566 0.004 0.0046843 -0.0120156 -0.004 -0.0014277 -0.0120156 0.004 -0.0014277 -0.0173714 -0.004 0.00142 -0.0173714 0.004 0.00142 -0.0170899 -0.004 0.0034232 -0.0170899 0.004 0.0034232"/><mesh name="bal1_h6" vertex="-0.0117793 -0.004 -0.002768 -0.0117793 0.004 -0.002768 -0.0088817 -0.004 -0.0082177 -0.0088817 0.004 -0.0082177 -0.0148884 -0.004 -0.0090619 -0.0148884 0.004 -0.0090619 -0.0158381 -0.004 -0.0072758 -0.0158381 0.004 -0.0072758"/><mesh name="bal1_h7" vertex="-0.0079027 -0.004 -0.0091631 -0.0079027 0.004 -0.0091631 -0.0023552 -0.004 -0.0118688 -0.0023552 0.004 -0.0118688 -0.0067186 -0.004 -0.0160824 -0.0067186 0.004 -0.0160824 -0.0085367 -0.004 -0.0151957 -0.0085367 0.004 -0.0151957"/><mesh name="bal1_h8" vertex="-0.0010075 -0.004 -0.0120582 -0.0010075 0.004 -0.0120582 0.0050709 -0.004 -0.0109864 0.0050709 0.004 -0.0109864 0.0040175 -0.004 -0.01696 0.0040175 0.004 -0.01696 0.0020254 -0.004 -0.0173113 0.0020254 0.004 -0.0173113"/><mesh name="bal1_h9" vertex="0.0062725 -0.004 -0.0103474 0.0062725 0.004 -0.0103474 0.01056 -0.004 -0.0059076 0.01056 0.004 -0.0059076 0.0132191 -0.004 -0.0113595 0.0132191 0.004 -0.0113595 0.0118139 -0.004 -0.0128146 0.0118139 0.004 -0.0128146"/><mesh name="bal2_h0" vertex="-0.0016774 -0.004 0.0090774 -0.0016774 0.004 0.0090774 -0.0070226 -0.004 0.0059914 -0.0070226 0.004 0.0059914 -0.0080759 -0.004 0.011965 -0.0080759 0.004 0.011965 -0.006324 -0.004 0.0129764 -0.006324 0.004 0.0129764"/><mesh name="bal2_h1" vertex="-0.0076048 -0.004 0.0052326 -0.0076048 0.004 0.0052326 -0.0092022 -0.004 -0.0007292 -0.0092022 0.004 -0.0007292 -0.0141711 -0.004 0.00275 -0.0141711 0.004 0.00275 -0.0136475 -0.004 0.0047039 -0.0136475 0.004 0.0047039"/><mesh name="bal2_h2" vertex="-0.0090774 -0.004 -0.0016774 -0.0090774 0.004 -0.0016774 -0.0059914 -0.004 -0.0070226 -0.0059914 0.004 -0.0070226 -0.011965 -0.004 -0.008076 -0.011965 0.004 -0.008076 -0.0129764 -0.004 -0.0063241 -0.0129764 0.004 -0.0063241"/><mesh name="bal2_h3" vertex="-0.0052326 -0.004 -0.0076049 -0.0052326 0.004 -0.0076049 0.0007292 -0.004 -0.0092023 0.0007292 0.004 -0.0092023 -0.00275 -0.004 -0.0141711 -0.00275 0.004 -0.0141711 -0.0047039 -0.004 -0.0136476 -0.0047039 0.004 -0.0136476"/><mesh name="bal2_h4" vertex="0.0016774 -0.004 -0.0090775 0.0016774 0.004 -0.0090775 0.0070226 -0.004 -0.0059914 0.0070226 0.004 -0.0059914 0.008076 -0.004 -0.0119651 0.008076 0.004 -0.0119651 0.0063241 -0.004 -0.0129765 0.0063241 0.004 -0.0129765"/><mesh name="bal2_h5" vertex="0.0076049 -0.004 -0.0052327 0.0076049 0.004 -0.0052327 0.0092023 -0.004 0.0007291 0.0092023 0.004 0.0007291 0.0141711 -0.004 -0.0027501 0.0141711 0.004 -0.0027501 0.0136476 -0.004 -0.004704 0.0136476 0.004 -0.004704"/><mesh name="bal2_h6" vertex="0.0090775 -0.004 0.0016774 0.0090775 0.004 0.0016774 0.0059914 -0.004 0.0070226 0.0059914 0.004 0.0070226 0.0119651 -0.004 0.0080759 0.0119651 0.004 0.0080759 0.0129765 -0.004 0.006324 0.0129765 0.004 0.006324"/><mesh name="bal2_h7" vertex="0.0052327 -0.004 0.0076048 0.0052327 0.004 0.0076048 -0.0007291 -0.004 0.0092023 -0.0007291 0.004 0.0092023 0.0027501 -0.004 0.0141711 0.0027501 0.004 0.0141711 0.004704 -0.004 0.0136475 0.004704 0.004 0.0136475"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0.0000219184595 0" mass="0.1218312699" fullinertia="0.00007844921611 0.0001562938603 0.00007844921611 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="16" conaffinity="8" 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="wheel_h1" type="mesh" mesh="wheel_h1" contype="16" conaffinity="8" 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="wheel_h2" type="mesh" mesh="wheel_h2" contype="16" conaffinity="8" 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="wheel_h3" type="mesh" mesh="wheel_h3" contype="16" conaffinity="8" 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="wheel_h4" type="mesh" mesh="wheel_h4" contype="16" conaffinity="8" 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="wheel_h5" type="mesh" mesh="wheel_h5" contype="16" conaffinity="8" 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="wheel_h6" type="mesh" mesh="wheel_h6" contype="16" conaffinity="8" 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="wheel_h7" type="mesh" mesh="wheel_h7" contype="16" conaffinity="8" 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="wheel_h8" type="mesh" mesh="wheel_h8" contype="16" conaffinity="8" 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="wheel_h9" type="mesh" mesh="wheel_h9" contype="16" conaffinity="8" 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="wheel_h10" type="mesh" mesh="wheel_h10" contype="16" conaffinity="8" 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="wheel_h11" type="mesh" mesh="wheel_h11" contype="16" conaffinity="8" 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="wheel_h12" type="mesh" mesh="wheel_h12" contype="16" conaffinity="8" 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="wheel_h13" type="mesh" mesh="wheel_h13" contype="16" conaffinity="8" 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="wheel_h14" type="mesh" mesh="wheel_h14" contype="16" conaffinity="8" 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="wheel_h15" type="mesh" mesh="wheel_h15" contype="16" conaffinity="8" 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="wheel_h16" type="mesh" mesh="wheel_h16" contype="16" conaffinity="8" 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="wheel_h17" type="mesh" mesh="wheel_h17" contype="16" conaffinity="8" 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="wheel_h18" type="mesh" mesh="wheel_h18" contype="16" conaffinity="8" 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="wheel_h19" type="mesh" mesh="wheel_h19" contype="16" conaffinity="8" 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="wheel_h20" type="mesh" mesh="wheel_h20" contype="16" conaffinity="8" 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="wheel_h21" type="mesh" mesh="wheel_h21" contype="16" conaffinity="8" 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="wheel_h22" type="mesh" mesh="wheel_h22" contype="16" conaffinity="8" 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="wheel_h23" type="mesh" mesh="wheel_h23" contype="16" conaffinity="8" 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="wheel_h24" type="mesh" mesh="wheel_h24" contype="16" conaffinity="8" 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="wheel_h25" type="mesh" mesh="wheel_h25" contype="16" conaffinity="8" 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="wheel_h26" type="mesh" mesh="wheel_h26" contype="16" conaffinity="8" 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="wheel_h27" type="mesh" mesh="wheel_h27" contype="16" conaffinity="8" 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="wheel_h28" type="mesh" mesh="wheel_h28" contype="16" conaffinity="8" 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="wheel_h29" type="mesh" mesh="wheel_h29" contype="16" conaffinity="8" 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"/></body>
<body name="anchor" pos="-0.0612373 0 0.0353554"><joint name="j_anc" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="-0.03463440717 -0.00005426249945 0.02624516085" mass="0.2103803257" fullinertia="0.0002699315378 0.0005622565109 0.0002937093617 3.953781598e-7 -0.000005267560588 -2.996085179e-7"/><geom name="anchor_h0" type="mesh" mesh="anchor_h0" contype="8" conaffinity="16" 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="anchor_h1" type="mesh" mesh="anchor_h1" contype="8" conaffinity="16" 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="anchor_h2" type="mesh" mesh="anchor_h2" contype="8" conaffinity="16" 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="anchor_h3" type="mesh" mesh="anchor_h3" contype="8" conaffinity="16" 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="anchor_h4" type="mesh" mesh="anchor_h4" contype="8" conaffinity="16" 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="anchor_h5" type="mesh" mesh="anchor_h5" contype="8" conaffinity="16" 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="anchor_h6" type="mesh" mesh="anchor_h6" contype="8" conaffinity="16" 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="anchor_h7" type="mesh" mesh="anchor_h7" contype="8" conaffinity="16" 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="anchor_h8" type="mesh" mesh="anchor_h8" contype="8" conaffinity="16" 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="anchor_h9" type="mesh" mesh="anchor_h9" contype="8" conaffinity="16" 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="anchor_h10" type="mesh" mesh="anchor_h10" contype="8" conaffinity="16" 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="anchor_h11" type="mesh" mesh="anchor_h11" contype="8" conaffinity="16" 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="anchor_h12" type="mesh" mesh="anchor_h12" contype="8" conaffinity="16" 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="anchor_h13" type="mesh" mesh="anchor_h13" contype="8" conaffinity="16" 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="anchor_h14" type="mesh" mesh="anchor_h14" contype="8" conaffinity="16" 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="anchor_h15" type="mesh" mesh="anchor_h15" contype="8" conaffinity="16" 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="anchor_h16" type="mesh" mesh="anchor_h16" contype="8" conaffinity="16" 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="anchor_h17" type="mesh" mesh="anchor_h17" contype="8" conaffinity="16" 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="anchor_h18" type="mesh" mesh="anchor_h18" contype="8" conaffinity="16" 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="anchor_h19" type="mesh" mesh="anchor_h19" contype="8" conaffinity="16" 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="anchor_h20" type="mesh" mesh="anchor_h20" contype="8" conaffinity="16" 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="anchor_h21" type="mesh" mesh="anchor_h21" contype="8" conaffinity="16" 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="anchor_h22" type="mesh" mesh="anchor_h22" contype="8" conaffinity="16" 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="anchor_h23" type="mesh" mesh="anchor_h23" contype="8" conaffinity="16" 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="anchor_h24" type="mesh" mesh="anchor_h24" contype="8" conaffinity="16" 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="anchor_h25" type="mesh" mesh="anchor_h25" contype="8" conaffinity="16" 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="anchor_h26" type="mesh" mesh="anchor_h26" contype="8" conaffinity="16" 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="anchor_h27" type="mesh" mesh="anchor_h27" contype="8" conaffinity="16" 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="anchor_h28" type="mesh" mesh="anchor_h28" contype="8" conaffinity="16" 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="anchor_h29" type="mesh" mesh="anchor_h29" contype="8" conaffinity="16" 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="anchor_h30" type="mesh" mesh="anchor_h30" contype="8" conaffinity="16" 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="anchor_h31" type="mesh" mesh="anchor_h31" contype="8" conaffinity="16" 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="anchor_h32" type="mesh" mesh="anchor_h32" contype="8" conaffinity="16" 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="anchor_h33" type="mesh" mesh="anchor_h33" contype="8" conaffinity="16" 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"/></body>
<body name="bal1" pos="-0.1655125 0 0.0500103"><joint name="j_b1" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" stiffness="0.012" springref="0"/><inertial pos="-2.882548589e-9 0.004880310164 -4.675543662e-10" mass="0.1070308529" fullinertia="0.0001169849646 0.0002469023723 0.0001343234702 -1.505681266e-12 -2.297358024e-12 0"/><geom name="bal1_h0" type="mesh" mesh="bal1_h0" contype="16" conaffinity="8" 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="bal1_h1" type="mesh" mesh="bal1_h1" contype="16" conaffinity="8" 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="bal1_h2" type="mesh" mesh="bal1_h2" contype="16" conaffinity="8" 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="bal1_h3" type="mesh" mesh="bal1_h3" contype="16" conaffinity="8" 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="bal1_h4" type="mesh" mesh="bal1_h4" contype="16" conaffinity="8" 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="bal1_h5" type="mesh" mesh="bal1_h5" contype="16" conaffinity="8" 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="bal1_h6" type="mesh" mesh="bal1_h6" contype="16" conaffinity="8" 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="bal1_h7" type="mesh" mesh="bal1_h7" contype="16" conaffinity="8" 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="bal1_h8" type="mesh" mesh="bal1_h8" contype="16" conaffinity="8" 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="bal1_h9" type="mesh" mesh="bal1_h9" contype="16" conaffinity="8" 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"/></body>
<body name="bal2" pos="-0.0910873 0 0.0870571"><joint name="j_b2" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" stiffness="0.012" springref="0"/><inertial pos="5.906502426e-9 0.01111590375 -6.000615532e-9" mass="0.09207074392" fullinertia="0.0001190106133 0.0002439939325 0.0001363491244 6.045007118e-12 0 -6.141327129e-12"/><geom name="bal2_h0" type="mesh" mesh="bal2_h0" contype="16" conaffinity="8" 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="bal2_h1" type="mesh" mesh="bal2_h1" contype="16" conaffinity="8" 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="bal2_h2" type="mesh" mesh="bal2_h2" contype="16" conaffinity="8" 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="bal2_h3" type="mesh" mesh="bal2_h3" contype="16" conaffinity="8" 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="bal2_h4" type="mesh" mesh="bal2_h4" contype="16" conaffinity="8" 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="bal2_h5" type="mesh" mesh="bal2_h5" contype="16" conaffinity="8" 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="bal2_h6" type="mesh" mesh="bal2_h6" contype="16" conaffinity="8" 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="bal2_h7" type="mesh" mesh="bal2_h7" contype="16" conaffinity="8" 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"/></body>
<body name="plate" 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><motor name="drive" joint="j_wheel" gear="1" ctrlrange="-0.05 0.05"/></actuator>
</mujoco>
