<mujoco model="443-archimedes-screw-stream">
<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="0.031349 -0.014428 -0.022982 0.031349 0.02653 0.005697 0.029627 0.028915 0.002291 0.029627 -0.012043 -0.026387 0.074771 -0.004111 -0.037715 0.074771 0.036846 -0.009036 0.073049 0.039231 -0.012442 0.073049 -0.001727 -0.041121"/><mesh name="wheel_h1" vertex="0.014707 -0.003485 -0.038609 0.014707 0.037472 -0.00993 0.01055 0.03846 -0.011341 0.01055 -0.002498 -0.040019 0.032693 0.021421 -0.074178 0.032693 0.062378 -0.0455 0.028536 0.063366 -0.04691 0.028536 0.022408 -0.075589"/><mesh name="wheel_h2" vertex="-0.01055 -0.002498 -0.040019 -0.01055 0.03846 -0.011341 -0.014707 0.037472 -0.00993 -0.014707 -0.003485 -0.038609 -0.028536 0.022408 -0.075589 -0.028536 0.063366 -0.04691 -0.032693 0.062378 -0.0455 -0.032693 0.021421 -0.074178"/><mesh name="wheel_h3" vertex="-0.029627 -0.012043 -0.026387 -0.029627 0.028915 0.002291 -0.031349 0.02653 0.005697 -0.031349 -0.014428 -0.022982 -0.073049 -0.001727 -0.041121 -0.073049 0.039231 -0.012442 -0.074771 0.036846 -0.009036 -0.074771 -0.004111 -0.037715"/><mesh name="wheel_h4" vertex="-0.031349 -0.02653 -0.005698 -0.031349 0.014428 0.022981 -0.029627 0.012043 0.026386 -0.029627 -0.028915 -0.002292 -0.074771 -0.036846 0.009035 -0.074771 0.004111 0.037714 -0.073049 0.001727 0.04112 -0.073049 -0.039231 0.012441"/><mesh name="wheel_h5" vertex="-0.014707 -0.037472 0.009929 -0.014707 0.003485 0.038608 -0.01055 0.002498 0.040019 -0.01055 -0.03846 0.01134 -0.032693 -0.062378 0.045499 -0.032693 -0.021421 0.074177 -0.028536 -0.022408 0.075588 -0.028536 -0.063366 0.046909"/><mesh name="wheel_h6" vertex="0.01055 -0.03846 0.01134 0.01055 0.002498 0.040019 0.014707 0.003485 0.038608 0.014707 -0.037472 0.009929 0.028536 -0.063366 0.046909 0.028536 -0.022408 0.075588 0.032693 -0.021421 0.074177 0.032693 -0.062378 0.045499"/><mesh name="wheel_h7" vertex="0.029627 -0.028915 -0.002292 0.029627 0.012043 0.026386 0.031349 0.014428 0.022981 0.031349 -0.02653 -0.005698 0.073049 -0.039231 0.012441 0.073049 0.001727 0.04112 0.074771 0.004111 0.037714 0.074771 -0.036846 0.009035"/><mesh name="frame_h0" vertex="-0.41 -0.24 -0.015 -0.41 0.22 -0.015 0.39 -0.24 -0.015 0.39 0.22 -0.015 0.39 -0.24 0 0.39 0.22 0 -0.41 -0.24 0 -0.41 0.22 0"/><mesh name="frame_h1" vertex="-0.41 -0.24 -0.015 -0.41 0.22 -0.015 -0.35 -0.24 -0.015 -0.35 0.22 -0.015 -0.35 -0.24 0.14 -0.35 0.22 0.14 -0.41 -0.24 0.14 -0.41 0.22 0.14"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0.084872"><joint name="j_w" type="hinge" axis="0 -0.8192 -0.5736" damping="0.0005" frictionloss="0"/><inertial pos="-0.00005402273222 0.1259727646 0.08817306275" mass="0.2206183163" fullinertia="0.005746894974 0.002098392093 0.003950263216 0.000002941239315 0.000002173104976 -0.002560148937"/><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"/></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"/></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>
