<mujoco model="84-double-rack-frame-cam">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<actuator><velocity name="drive" joint="j_D" kv="0.5" forcerange="-20 20"/></actuator>
</mujoco>
