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<body name="bar" pos="0.04 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="1" frictionloss="0" range="-0.01 0.05" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.09949450756 0 0" mass="0.2" fullinertia="0.000002707432342 0.0006766643598 0.0006760628937 0 0 0"/><geom name="bar_h0" type="capsule" fromto="0 -0.003 0 0 0.003 0" size="0.005" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_c" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
