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<compiler angle="radian" autolimits="true"/>
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<body name="rod" pos="0 0 0"><joint name="j_rod" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="-0.03899874398 -0.03990666939 0" mass="0.15" fullinertia="0.0002452341045 0.0002738198819 0.00002975382297 -5.459665001e-7 0 0"/><geom name="rod_h0" type="capsule" fromto="0 -0.037 0 0 -0.0255 0" size="0.002" contype="16" conaffinity="8" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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_rod" kv="300" forcerange="-3000 3000"/></actuator>
</mujoco>
