<mujoco model="442-eisach-pot-wheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="wheel_h0" vertex="0.114264 0.003 0.005695 0.114264 0.025 0.005695 0.087936 0.003 -0.009505 0.087936 0.025 -0.009505 0.086836 0.003 -0.0076 0.086836 0.025 -0.0076 0.113164 0.003 0.0076 0.113164 0.025 0.0076"/><mesh name="wheel_h1" vertex="0.088742 0.003 -0.0065 0.088742 0.025 -0.0065 0.072742 0.003 0.021213 0.072742 0.025 0.021213 0.070836 0.003 0.020113 0.070836 0.025 0.020113 0.086836 0.003 -0.0076 0.086836 0.025 -0.0076"/><mesh name="wheel_h2" vertex="0.113164 0.003 0.0076 0.113164 0.025 0.0076 0.097164 0.003 0.035313 0.097164 0.025 0.035313 0.095258 0.003 0.034213 0.095258 0.025 0.034213 0.111258 0.003 0.0065 0.111258 0.025 0.0065"/><mesh name="wheel_h3" vertex="0.089094 0.003 0.07177 0.089094 0.025 0.07177 0.076729 0.003 0.043998 0.076729 0.025 0.043998 0.074719 0.003 0.044893 0.074719 0.025 0.044893 0.087084 0.003 0.072664 0.087084 0.025 0.072664"/><mesh name="wheel_h4" vertex="0.075614 0.003 0.046902 0.075614 0.025 0.046902 0.046381 0.003 0.059918 0.046381 0.025 0.059918 0.045486 0.003 0.057908 0.045486 0.025 0.057908 0.074719 0.003 0.044893 0.074719 0.025 0.044893"/><mesh name="wheel_h5" vertex="0.087084 0.003 0.072664 0.087084 0.025 0.072664 0.057851 0.003 0.08568 0.057851 0.025 0.08568 0.056956 0.003 0.08367 0.056956 0.025 0.08367 0.086189 0.003 0.070655 0.086189 0.025 0.070655"/><mesh name="wheel_h6" vertex="0.029893 0.003 0.110431 0.029893 0.025 0.110431 0.036214 0.003 0.080695 0.036214 0.025 0.080695 0.034062 0.003 0.080238 0.034062 0.025 0.080238 0.027741 0.003 0.109973 0.027741 0.025 0.109973"/><mesh name="wheel_h7" vertex="0.033605 0.003 0.08239 0.033605 0.025 0.08239 0.002304 0.003 0.075737 0.002304 0.025 0.075737 0.002761 0.003 0.073585 0.002761 0.025 0.073585 0.034062 0.003 0.080238 0.034062 0.025 0.080238"/><mesh name="wheel_h8" vertex="0.027741 0.003 0.109973 0.027741 0.025 0.109973 -0.003559 0.003 0.10332 -0.003559 0.025 0.10332 -0.003102 0.003 0.101168 -0.003102 0.025 0.101168 0.028199 0.003 0.107822 0.028199 0.025 0.107822"/><mesh name="wheel_h9" vertex="-0.040725 0.003 0.106911 -0.040725 0.025 0.106911 -0.018134 0.003 0.08657 -0.018134 0.025 0.08657 -0.019606 0.003 0.084935 -0.019606 0.025 0.084935 -0.042198 0.003 0.105276 -0.042198 0.025 0.105276"/><mesh name="wheel_h10" vertex="-0.021241 0.003 0.086407 -0.021241 0.025 0.086407 -0.042653 0.003 0.062626 -0.042653 0.025 0.062626 -0.041018 0.003 0.061154 -0.041018 0.025 0.061154 -0.019606 0.003 0.084935 -0.019606 0.025 0.084935"/><mesh name="wheel_h11" vertex="-0.042198 0.003 0.105276 -0.042198 0.025 0.105276 -0.06361 0.003 0.081496 -0.06361 0.025 0.081496 -0.061975 0.003 0.080024 -0.061975 0.025 0.080024 -0.040563 0.003 0.103804 -0.040563 0.025 0.103804"/><mesh name="wheel_h12" vertex="-0.095788 0.003 0.062555 -0.095788 0.025 0.062555 -0.065555 0.003 0.059378 -0.065555 0.025 0.059378 -0.065785 0.003 0.05719 -0.065785 0.025 0.05719 -0.096018 0.003 0.060367 -0.096018 0.025 0.060367"/><mesh name="wheel_h13" vertex="-0.067973 0.003 0.05742 -0.067973 0.025 0.05742 -0.071318 0.003 0.025595 -0.071318 0.025 0.025595 -0.06913 0.003 0.025365 -0.06913 0.025 0.025365 -0.065785 0.003 0.05719 -0.065785 0.025 0.05719"/><mesh name="wheel_h14" vertex="-0.096018 0.003 0.060367 -0.096018 0.025 0.060367 -0.099363 0.003 0.028543 -0.099363 0.025 0.028543 -0.097175 0.003 0.028313 -0.097175 0.025 0.028313 -0.09383 0.003 0.060137 -0.09383 0.025 0.060137"/><mesh name="wheel_h15" vertex="-0.114264 0.003 -0.005695 -0.114264 0.025 -0.005695 -0.087936 0.003 0.009505 -0.087936 0.025 0.009505 -0.086836 0.003 0.0076 -0.086836 0.025 0.0076 -0.113164 0.003 -0.0076 -0.113164 0.025 -0.0076"/><mesh name="wheel_h16" vertex="-0.088742 0.003 0.0065 -0.088742 0.025 0.0065 -0.072742 0.003 -0.021213 -0.072742 0.025 -0.021213 -0.070836 0.003 -0.020113 -0.070836 0.025 -0.020113 -0.086836 0.003 0.0076 -0.086836 0.025 0.0076"/><mesh name="wheel_h17" vertex="-0.113164 0.003 -0.0076 -0.113164 0.025 -0.0076 -0.097164 0.003 -0.035313 -0.097164 0.025 -0.035313 -0.095258 0.003 -0.034213 -0.095258 0.025 -0.034213 -0.111258 0.003 -0.0065 -0.111258 0.025 -0.0065"/><mesh name="wheel_h18" vertex="-0.089094 0.003 -0.07177 -0.089094 0.025 -0.07177 -0.076729 0.003 -0.043998 -0.076729 0.025 -0.043998 -0.074719 0.003 -0.044893 -0.074719 0.025 -0.044893 -0.087084 0.003 -0.072664 -0.087084 0.025 -0.072664"/><mesh name="wheel_h19" vertex="-0.075614 0.003 -0.046902 -0.075614 0.025 -0.046902 -0.046381 0.003 -0.059918 -0.046381 0.025 -0.059918 -0.045486 0.003 -0.057908 -0.045486 0.025 -0.057908 -0.074719 0.003 -0.044893 -0.074719 0.025 -0.044893"/><mesh name="wheel_h20" vertex="-0.087084 0.003 -0.072664 -0.087084 0.025 -0.072664 -0.057851 0.003 -0.08568 -0.057851 0.025 -0.08568 -0.056956 0.003 -0.08367 -0.056956 0.025 -0.08367 -0.086189 0.003 -0.070655 -0.086189 0.025 -0.070655"/><mesh name="wheel_h21" vertex="-0.029893 0.003 -0.110431 -0.029893 0.025 -0.110431 -0.036214 0.003 -0.080695 -0.036214 0.025 -0.080695 -0.034062 0.003 -0.080238 -0.034062 0.025 -0.080238 -0.027741 0.003 -0.109973 -0.027741 0.025 -0.109973"/><mesh name="wheel_h22" vertex="-0.033605 0.003 -0.08239 -0.033605 0.025 -0.08239 -0.002304 0.003 -0.075737 -0.002304 0.025 -0.075737 -0.002761 0.003 -0.073585 -0.002761 0.025 -0.073585 -0.034062 0.003 -0.080238 -0.034062 0.025 -0.080238"/><mesh name="wheel_h23" vertex="-0.027741 0.003 -0.109973 -0.027741 0.025 -0.109973 0.003559 0.003 -0.10332 0.003559 0.025 -0.10332 0.003102 0.003 -0.101168 0.003102 0.025 -0.101168 -0.028199 0.003 -0.107822 -0.028199 0.025 -0.107822"/><mesh name="wheel_h24" vertex="0.040725 0.003 -0.106911 0.040725 0.025 -0.106911 0.018134 0.003 -0.08657 0.018134 0.025 -0.08657 0.019606 0.003 -0.084935 0.019606 0.025 -0.084935 0.042198 0.003 -0.105276 0.042198 0.025 -0.105276"/><mesh name="wheel_h25" vertex="0.021241 0.003 -0.086407 0.021241 0.025 -0.086407 0.042653 0.003 -0.062626 0.042653 0.025 -0.062626 0.041018 0.003 -0.061154 0.041018 0.025 -0.061154 0.019606 0.003 -0.084935 0.019606 0.025 -0.084935"/><mesh name="wheel_h26" vertex="0.042198 0.003 -0.105276 0.042198 0.025 -0.105276 0.06361 0.003 -0.081496 0.06361 0.025 -0.081496 0.061975 0.003 -0.080024 0.061975 0.025 -0.080024 0.040563 0.003 -0.103804 0.040563 0.025 -0.103804"/><mesh name="wheel_h27" vertex="0.095788 0.003 -0.062555 0.095788 0.025 -0.062555 0.065555 0.003 -0.059378 0.065555 0.025 -0.059378 0.065785 0.003 -0.05719 0.065785 0.025 -0.05719 0.096018 0.003 -0.060367 0.096018 0.025 -0.060367"/><mesh name="wheel_h28" vertex="0.067973 0.003 -0.05742 0.067973 0.025 -0.05742 0.071318 0.003 -0.025595 0.071318 0.025 -0.025595 0.06913 0.003 -0.025365 0.06913 0.025 -0.025365 0.065785 0.003 -0.05719 0.065785 0.025 -0.05719"/><mesh name="wheel_h29" vertex="0.096018 0.003 -0.060367 0.096018 0.025 -0.060367 0.099363 0.003 -0.028543 0.099363 0.025 -0.028543 0.097175 0.003 -0.028313 0.097175 0.025 -0.028313 0.09383 0.003 -0.060137 0.09383 0.025 -0.060137"/><mesh name="frame_h0" vertex="-0.35 0.003 -0.01 -0.35 0.025 -0.01 0.38 0.003 -0.01 0.38 0.025 -0.01 0.38 0.003 0 0.38 0.025 0 -0.35 0.003 0 -0.35 0.025 0"/><mesh name="frame_h1" vertex="-0.36 0 -0.01 -0.36 0.028 -0.01 -0.35 0 -0.01 -0.35 0.028 -0.01 -0.35 0 0.15 -0.35 0.028 0.15 -0.36 0 0.15 -0.36 0.028 0.15"/><mesh name="frame_h2" vertex="-0.0225 0.003 0.1725 -0.0225 0.025 0.1725 0.0375 0.003 0.1725 0.0375 0.025 0.1725 0.0375 0.003 0.175 0.0375 0.025 0.175 -0.0225 0.003 0.175 -0.0225 0.025 0.175"/><mesh name="frame_h3" vertex="-0.0225 0.003 0.175 -0.0225 0.025 0.175 -0.02 0.003 0.175 -0.02 0.025 0.175 -0.02 0.003 0.194 -0.02 0.025 0.194 -0.0225 0.003 0.194 -0.0225 0.025 0.194"/><mesh name="frame_h4" vertex="0.035 0.003 0.175 0.035 0.025 0.175 0.0375 0.003 0.175 0.0375 0.025 0.175 0.0375 0.003 0.194 0.0375 0.025 0.194 0.035 0.003 0.194 0.035 0.025 0.194"/><mesh name="frame_h5" vertex="-0.013 0.003 0.175 -0.013 0.025 0.175 -0.0115 0.003 0.175 -0.0115 0.025 0.175 -0.0115 0.003 0.188 -0.0115 0.025 0.188 -0.013 0.003 0.188 -0.013 0.025 0.188"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0.14"><joint name="j_w" type="hinge" axis="0 -1 0" damping="0.006" frictionloss="0"/><inertial pos="0 0.01645003682 0" mass="0.06582266213" fullinertia="0.0001904801068 0.0003684501522 0.0001904898206 0 1.963258821e-9 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_h0" contype="16" conaffinity="8" condim="3" friction="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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="0.3 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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 0.005 0.0001" solref="0.004 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><motor name="drive" joint="j_w" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
