<mujoco model="252-rollers-moved-by-oblique-slots">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="d_h0" vertex="-0.089839 -0.006 0.015687 -0.089839 0.006 0.015687 -0.084582 -0.006 0.012795 -0.084582 0.006 0.012795 -0.015832 -0.006 0.137795 -0.015832 0.006 0.137795 -0.021089 -0.006 0.140687 -0.021089 0.006 0.140687"/><mesh name="d_h1" vertex="-0.074418 -0.006 0.007205 -0.074418 0.006 0.007205 -0.069161 -0.006 0.004313 -0.069161 0.006 0.004313 -0.000411 -0.006 0.129313 -0.000411 0.006 0.129313 -0.005668 -0.006 0.132205 -0.005668 0.006 0.132205"/><mesh name="d_h2" vertex="0.084582 -0.006 0.012795 0.084582 0.006 0.012795 0.089839 -0.006 0.015687 0.089839 0.006 0.015687 0.021089 -0.006 0.140687 0.021089 0.006 0.140687 0.015832 -0.006 0.137795 0.015832 0.006 0.137795"/><mesh name="d_h3" vertex="0.069161 -0.006 0.004313 0.069161 0.006 0.004313 0.074418 -0.006 0.007205 0.074418 0.006 0.007205 0.005668 -0.006 0.132205 0.005668 0.006 0.132205 0.000411 -0.006 0.129313 0.000411 0.006 0.129313"/></asset>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="d" pos="0 0 0"><joint name="j_d" type="slide" axis="0 0 1" damping="0.2" frictionloss="0"/><inertial pos="0 0 0.04072888391" mass="0.4" fullinertia="0.001111290012 0.002061681477 0.0009607400608 0 0 0"/><geom name="d_h0" type="mesh" mesh="d_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="d_h1" type="mesh" mesh="d_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="d_h2" type="mesh" mesh="d_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="d_h3" type="mesh" mesh="d_h3" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="roller_a" pos="-0.03 0 0.1"><joint name="j_a" type="slide" axis="1 0 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="0.1" fullinertia="0.0000270546854 0.00001146440204 0.0000270546854 0 0 0"/><geom name="roller_a_h0" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.0055" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="roller_b" pos="0.03 0 0.1"><joint name="j_b" type="slide" axis="1 0 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="0.1" fullinertia="0.0000270546854 0.00001146440204 0.0000270546854 0 0 0"/><geom name="roller_b_h0" type="capsule" fromto="0 -0.013 0 0 0.013 0" size="0.0055" contype="8" conaffinity="16" condim="3" friction="0.1 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_d" kv="20000" forcerange="-50 50"/></actuator>
</mujoco>
