<mujoco model="432-breast-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0004" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<body name="wx176" pos="0.342212 0 0.116448"><joint name="jx176" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.497212 0.147788" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01005 -0.104448" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w176" pos="0 0 0"><joint name="jz176" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.094948 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w176_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx177" pos="0.344361 0 0.116449"><joint name="jx177" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.499361 0.145639" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01005 -0.104449" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w177" pos="0 0 0"><joint name="jz177" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.094949 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w177_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx178" pos="0.346522 0 0.11645"><joint name="jx178" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.501522 0.143478" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01005 -0.10445" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w178" pos="0 0 0"><joint name="jz178" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.09495 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w178_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="wx179" pos="0.348695 0 0.116451"><joint name="jx179" type="slide" axis="1 0 0" damping="0" frictionloss="0" range="-0.503695 0.141305" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01005 -0.104451" mass="0.00002" fullinertia="1.266666667e-12 2.5e-12 1.266666667e-12 0 0 0"/><body name="w179" pos="0 0 0"><joint name="jz179" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.094951 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.014 0" mass="0.0007853981634" fullinertia="1.145372322e-8 9.817477042e-9 1.145372322e-8 0 0 0"/><geom name="w179_h0" type="capsule" fromto="0 0.009 0 0 0.019 0" size="0.005" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.004 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</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_w" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
