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</body>
<body name="wheel_f" pos="0.15708 0 0"><joint name="j_wf" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="3.573681518e-8 0 -3.847924106e-8" mass="0.15" fullinertia="0.0001316028086 0.0002596054409 0.0001316035314 0 -2.061986646e-11 0"/><geom name="wheel_f_h0" type="mesh" mesh="wheel_f_h0" contype="16" conaffinity="8" condim="3" friction="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_f_h1" type="mesh" mesh="wheel_f_h1" contype="16" conaffinity="8" condim="3" friction="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_f_h2" type="mesh" mesh="wheel_f_h2" contype="16" conaffinity="8" condim="3" friction="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_f_h3" type="mesh" mesh="wheel_f_h3" contype="16" conaffinity="8" condim="3" friction="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_f_h4" type="mesh" mesh="wheel_f_h4" contype="16" conaffinity="8" condim="3" friction="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_f_h5" type="mesh" mesh="wheel_f_h5" contype="16" conaffinity="8" condim="3" friction="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_f_h6" type="mesh" mesh="wheel_f_h6" contype="16" conaffinity="8" condim="3" friction="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_f_h7" type="mesh" mesh="wheel_f_h7" contype="16" conaffinity="8" condim="3" friction="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_f_h8" type="mesh" mesh="wheel_f_h8" contype="16" conaffinity="8" condim="3" friction="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_f_h9" type="mesh" mesh="wheel_f_h9" contype="16" conaffinity="8" condim="3" friction="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_f_h10" type="mesh" mesh="wheel_f_h10" contype="16" conaffinity="8" condim="3" friction="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_f_h11" type="mesh" mesh="wheel_f_h11" contype="16" conaffinity="8" condim="3" friction="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_f_h12" type="mesh" mesh="wheel_f_h12" contype="16" conaffinity="8" condim="3" friction="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_f_h13" type="mesh" mesh="wheel_f_h13" contype="16" conaffinity="8" condim="3" friction="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_f_h14" type="mesh" mesh="wheel_f_h14" contype="16" conaffinity="8" condim="3" friction="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_f_h15" type="mesh" mesh="wheel_f_h15" contype="16" conaffinity="8" condim="3" friction="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_f_h16" type="mesh" mesh="wheel_f_h16" contype="16" conaffinity="8" condim="3" friction="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_f_h17" type="mesh" mesh="wheel_f_h17" contype="16" conaffinity="8" condim="3" friction="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_f_h18" type="mesh" mesh="wheel_f_h18" contype="16" conaffinity="8" condim="3" friction="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_f_h19" type="mesh" mesh="wheel_f_h19" contype="16" conaffinity="8" condim="3" friction="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_f_h20" type="mesh" mesh="wheel_f_h20" contype="16" conaffinity="8" condim="3" friction="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_f_h21" type="mesh" mesh="wheel_f_h21" contype="16" conaffinity="8" condim="3" friction="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_f_h22" type="mesh" mesh="wheel_f_h22" contype="16" conaffinity="8" condim="3" friction="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_f_h23" type="mesh" mesh="wheel_f_h23" contype="16" conaffinity="8" condim="3" friction="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_f_h24" type="mesh" mesh="wheel_f_h24" contype="16" conaffinity="8" condim="3" friction="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_f_h25" type="mesh" mesh="wheel_f_h25" contype="16" conaffinity="8" condim="3" friction="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_f_h26" type="mesh" mesh="wheel_f_h26" contype="16" conaffinity="8" condim="3" friction="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_f_h27" type="mesh" mesh="wheel_f_h27" contype="16" conaffinity="8" condim="3" friction="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_f_h28" type="mesh" mesh="wheel_f_h28" contype="16" conaffinity="8" condim="3" friction="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_f_h29" type="mesh" mesh="wheel_f_h29" contype="16" conaffinity="8" condim="3" friction="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_f_h30" type="mesh" mesh="wheel_f_h30" contype="16" conaffinity="8" condim="3" friction="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_f_h31" type="mesh" mesh="wheel_f_h31" contype="16" conaffinity="8" condim="3" friction="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_f_h32" type="mesh" mesh="wheel_f_h32" contype="16" conaffinity="8" condim="3" friction="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_f_h33" type="mesh" mesh="wheel_f_h33" contype="16" conaffinity="8" condim="3" friction="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_f_h34" type="mesh" mesh="wheel_f_h34" contype="16" conaffinity="8" condim="3" friction="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_f_h35" type="mesh" mesh="wheel_f_h35" contype="16" conaffinity="8" condim="3" friction="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_f_h36" type="mesh" mesh="wheel_f_h36" contype="16" conaffinity="8" condim="3" friction="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_f_h37" type="mesh" mesh="wheel_f_h37" contype="16" conaffinity="8" condim="3" friction="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_f_h38" type="mesh" mesh="wheel_f_h38" contype="16" conaffinity="8" condim="3" friction="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_f_h39" type="mesh" mesh="wheel_f_h39" contype="16" conaffinity="8" condim="3" friction="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_f_h40" type="mesh" mesh="wheel_f_h40" contype="16" conaffinity="8" condim="3" friction="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_f_h41" type="mesh" mesh="wheel_f_h41" contype="16" conaffinity="8" condim="3" friction="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_f_h42" type="mesh" mesh="wheel_f_h42" contype="16" conaffinity="8" condim="3" friction="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_f_h43" type="mesh" mesh="wheel_f_h43" contype="16" conaffinity="8" condim="3" friction="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_f_h44" type="mesh" mesh="wheel_f_h44" contype="16" conaffinity="8" condim="3" friction="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_f_h45" type="mesh" mesh="wheel_f_h45" contype="16" conaffinity="8" condim="3" friction="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_f_h46" type="mesh" mesh="wheel_f_h46" contype="16" conaffinity="8" condim="3" friction="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_f_h47" type="mesh" mesh="wheel_f_h47" contype="16" conaffinity="8" condim="3" friction="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="drum" pos="0 0.0342 0"><joint name="j_d" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.002269868622 0 0" mass="0.03" fullinertia="0.00000721024247 0.00005962842978 0.00005962842978 0 0 0"/><geom name="drum_h0" type="mesh" mesh="drum_h0" contype="8" conaffinity="16" 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="drum_h1" type="mesh" mesh="drum_h1" contype="8" conaffinity="16" 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="drum_h2" type="mesh" mesh="drum_h2" contype="8" conaffinity="16" 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="drum_h3" type="mesh" mesh="drum_h3" contype="8" conaffinity="16" 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="drum_h4" type="mesh" mesh="drum_h4" contype="8" conaffinity="16" 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="drum_h5" type="mesh" mesh="drum_h5" contype="8" conaffinity="16" 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="drum_h6" type="mesh" mesh="drum_h6" contype="8" conaffinity="16" 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="drum_h7" type="mesh" mesh="drum_h7" contype="8" conaffinity="16" 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>
<body name="pend" pos="0 0 0.091"><joint name="j_p" type="hinge" axis="0 -1 0" damping="0.015" frictionloss="0"/><inertial pos="0 -0.007954397225 -0.08911046406" mass="0.12" fullinertia="0.000153378808 0.0001575630554 0.000008318871471 0 0 1.03401698e-8"/></body>
</body>
</body>
</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_cr" body1="crown" body2="wheel_h" anchor="0.038 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="crown" body2="wheel_h"/></contact>
<actuator><velocity name="drive" joint="j_x" kv="200" forcerange="-50 50"/></actuator>
</mujoco>
