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<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
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<body name="block" pos="0 -0.056 0.016743"><joint name="j_z" type="slide" axis="0 0 1" damping="0.02" frictionloss="0" range="-0.013743 0.089576" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0593946527 0.0009080379335 0" mass="0.3" fullinertia="0.00002168854186 0.0002203072357 0.0002267665049 -0.00001617977931 0 0"/><geom name="block_h0" type="capsule" fromto="0 0 0 0 0.02 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="10" forcerange="-20 20"/></actuator>
</mujoco>
