<mujoco model="hypothetical_12_jet_contact_experiment"><compiler angle="radian"/><option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="60" tolerance="1e-10"/><default><geom condim="4" friction="0.9 0.005 0" solref="0.012 1.0" solimp=".95 .99 .001" margin=".001"/></default><worldbody><geom name="floor" type="plane" size="100 100 .1" rgba=".2 .25 .3 1"/><body name="car" pos="0 0 0.5"><freejoint name="free"/><inertial pos="0.0 0.0 0.007499999999999999" mass="1920.0" diaginertia="689.1186666666666 2910.689866666666 3128.485333333333"/><geom name="body" type="box" pos="0 0 0.175" size="2.05 0.73 0.32"/><geom name="roof" type="box" pos="-0.25 0 0.495" size="0.75 0.6 0.205"/><body name="wheelbody0" pos="-1.25 -0.7 -0.18"><joint name="wheelspin0" type="hinge" axis="0 1 0" damping=".25"/><geom name="wheel0" type="ellipsoid" size="0.32 0.16 0.32" mass="20" rgba=".1 .1 .1 1"/></body><body name="wheelbody1" pos="-1.25 0.7 -0.18"><joint name="wheelspin1" type="hinge" axis="0 1 0" damping=".25"/><geom name="wheel1" type="ellipsoid" size="0.32 0.16 0.32" mass="20" rgba=".1 .1 .1 1"/></body><body name="wheelbody2" pos="1.25 -0.7 -0.18"><joint name="wheelspin2" type="hinge" axis="0 1 0" damping=".25"/><geom name="wheel2" type="ellipsoid" size="0.32 0.16 0.32" mass="20" rgba=".1 .1 .1 1"/></body><body name="wheelbody3" pos="1.25 0.7 -0.18"><joint name="wheelspin3" type="hinge" axis="0 1 0" damping=".25"/><geom name="wheel3" type="ellipsoid" size="0.32 0.16 0.32" mass="20" rgba=".1 .1 .1 1"/></body><site name="J01" pos="-1.55 -0.5 -0.185" size=".025"/><site name="J02" pos="-1.55 -0.5 0.5349999999999999" size=".025"/><site name="J03" pos="-1.55 0.5 -0.185" size=".025"/><site name="J04" pos="-1.55 0.5 0.5349999999999999" size=".025"/><site name="J05" pos="1.55 -0.5 -0.185" size=".025"/><site name="J06" pos="1.55 -0.5 0.5349999999999999" size=".025"/><site name="J07" pos="1.55 0.5 -0.185" size=".025"/><site name="J08" pos="1.55 0.5 0.5349999999999999" size=".025"/><site name="J09" pos="-2.0799999999999996 -0.5 0.175" size=".025"/><site name="J10" pos="2.0799999999999996 0.5 0.175" size=".025"/><site name="J11" pos="-1.55 -0.885 0.175" size=".025"/><site name="J12" pos="1.55 0.885 0.175" size=".025"/></body></worldbody><actuator><general name="J01" site="J01" gear="0.0 0.0 1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J02" site="J02" gear="0.0 0.0 -1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J03" site="J03" gear="0.0 0.0 1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J04" site="J04" gear="0.0 0.0 -1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J05" site="J05" gear="0.0 0.0 1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J06" site="J06" gear="0.0 0.0 -1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J07" site="J07" gear="0.0 0.0 1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J08" site="J08" gear="0.0 0.0 -1.0 0 0 0" ctrllimited="true" ctrlrange="0 18000.0"/><general name="J09" site="J09" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="0 10000.0"/><general name="J10" site="J10" gear="-1 0 0 0 0 0" ctrllimited="true" ctrlrange="0 10000.0"/><general name="J11" site="J11" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="0 10000.0"/><general name="J12" site="J12" gear="0 -1 0 0 0 0" ctrllimited="true" ctrlrange="0 10000.0"/></actuator></mujoco>