<mujoco model="282-slotted-bar-sector-rack-weight">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<size memory="64M"/>
<worldbody>
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<body name="rack" pos="0 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 -0.008 -0.08258180902" mass="0.4" fullinertia="0.00001491666384 0.002663037388 0.002656091632 0 0 0"/><geom name="rack_h0" type="mesh" mesh="rack_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="rack_h1" type="mesh" mesh="rack_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="rack_h2" type="mesh" mesh="rack_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="rack_h3" type="mesh" mesh="rack_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"/><geom name="rack_h4" type="mesh" mesh="rack_h4" 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="rack_h5" type="mesh" mesh="rack_h5" 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="rack_h6" type="mesh" mesh="rack_h6" 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="rack_h7" type="mesh" mesh="rack_h7" 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="rack_h8" type="mesh" mesh="rack_h8" 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="rack_h9" type="mesh" mesh="rack_h9" 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="weight" pos="0 0 0"><joint name="j_w" type="slide" axis="0 0 1" damping="0.3" frictionloss="0"/><inertial pos="0.215 -0.008 0.1246004931" mass="0.5" fullinertia="0.00008808915222 0.000106670552 0.00006636927928 0 0 0"/><site name="cord_b" pos="0.215 -0.008 0.15" size="0.003"/></body>
<body name="frame" pos="0 0 0"></body>
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="cord" limited="true" range="0 0.3646519922" width="0.0015" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="cord_a"/><geom geom="cord_over" sidesite="cord_side"/><site site="cord_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_d" kv="50" forcerange="-30 30"/></actuator>
</mujoco>
