<mujoco model="107-grooved-drum-wavy-groove">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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<body name="bar" pos="0.012 0 0.062"><joint name="j_x" type="slide" axis="1 0 0" damping="1" frictionloss="0" range="-0.016 0.016" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.03723564955 0 -0.001269637462" mass="0.3" fullinertia="0.000008239669054 0.000525920744 0.0005214310749 0 -0.00001418273268 0"/><geom name="bar_h0" type="capsule" fromto="0 0 0 0 0 -0.0205" 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_d" kv="10" forcerange="-20 20"/></actuator>
</mujoco>
