<mujoco model="173-silk-guide-variable-stroke-screw">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<body name="nut" pos="0.064 -0.026 0"><joint name="j_nut" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.01607337894 0.002455451416" mass="0.02144208582" fullinertia="0.000004233255944 9.855596569e-7 0.000003661082347 0 3.76451712e-8 -8.462634012e-7"/><geom name="nut_h0" type="mesh" mesh="nut_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="nut_h1" type="mesh" mesh="nut_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="nut_h2" type="mesh" mesh="nut_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="guiderod" pos="0.064 0 0"><joint name="j_rod" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0.03591811282 -0.055 0.03565402983" mass="0.1277512858" fullinertia="0.0008352667046 0.001538238132 0.0007065492425 0 -0.000400794417 0"/><geom name="guiderod_h0" type="mesh" mesh="guiderod_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="guiderod_h1" type="mesh" mesh="guiderod_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="tappet" pos="0 0 0.094"><geom name="tappet_h0" type="capsule" fromto="0 -0.0375 -0.009 0 -0.0375 0.009" size="0.0025" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="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_disk" kv="3" forcerange="-12 12"/></actuator>
</mujoco>
