<mujoco model="441-persian-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<size memory="64M"/>
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</body>
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<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>
