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friction="0.1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
</body>
<body name="pipe_a" pos="0 0 0.074"><joint name="j_a" type="slide" axis="0 0 -1" damping="2" frictionloss="0" range="0 0.013" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="2000" springref="-0.005"/><inertial pos="0 0 0.07631385522" mass="0.5" fullinertia="0.001228603826 0.001228603826 0.000150697313 0 0 0"/><geom name="pipe_a_h0" type="mesh" mesh="pipe_a_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" 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_nut" kv="0.3" forcerange="-0.6 0.6"/></actuator>
</mujoco>
