<mujoco model="101-slotted-bar-horizontal-bar">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="arm_h0" vertex="0.0052 -0.01 -0.07 0.0052 0.002 -0.07 0.0182 -0.01 -0.07 0.0182 0.002 -0.07 0.0182 -0.01 -0.23 0.0182 0.002 -0.23 0.0052 -0.01 -0.23 0.0052 0.002 -0.23"/><mesh name="arm_h1" vertex="-0.0052 -0.01 -0.07 -0.0052 0.002 -0.07 -0.0182 -0.01 -0.07 -0.0182 0.002 -0.07 -0.0182 -0.01 -0.23 -0.0182 0.002 -0.23 -0.0052 -0.01 -0.23 -0.0052 0.002 -0.23"/><mesh name="arm_h2" vertex="-0.0182 -0.01 -0.057 -0.0182 0.002 -0.057 0.0182 -0.01 -0.057 0.0182 0.002 -0.057 0.0182 -0.01 -0.07 0.0182 0.002 -0.07 -0.0182 -0.01 -0.07 -0.0182 0.002 -0.07"/><mesh name="arm_h3" vertex="-0.0182 -0.01 -0.23 -0.0182 0.002 -0.23 0.0182 -0.01 -0.23 0.0182 0.002 -0.23 0.0182 -0.01 -0.243 0.0182 0.002 -0.243 -0.0182 -0.01 -0.243 -0.0182 0.002 -0.243"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.00383645766 0.0006787330317" mass="1.5" fullinertia="0.0009653865909 0.001807610372 0.0009355346223 0 0 0.00001103259264"/><geom name="disk_h0" type="capsule" fromto="0 0 0.03 0 -0.014 0.03" size="0.005" contype="8" conaffinity="16" 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="arm" pos="0 0 0.12"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.1" frictionloss="0"/><inertial pos="0 -0.004 -0.1168546811" mass="0.6" fullinertia="0.003277612658 0.00334382111 0.00008060845188 0 0 0"/><geom name="arm_h0" type="mesh" mesh="arm_h0" 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"/><geom name="arm_h1" type="mesh" mesh="arm_h1" 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"/><geom name="arm_h2" type="mesh" mesh="arm_h2" 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"/><geom name="arm_h3" type="mesh" mesh="arm_h3" 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="hbar" pos="0 0 -0.08"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.055638 0.056638" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="5" springref="-0.4"/><inertial pos="0.06881787532 -0.01867571671 0" mass="0.5" fullinertia="0.00001415613847 0.00132365017 0.001326280272 0.00002836271235 0 0"/><geom name="hbar_h0" type="capsule" fromto="0 -0.02 0 0 0.001 0" size="0.005" contype="8" conaffinity="16" 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_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
