<mujoco model="362-oblique-groove-traverse">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
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name="cylinder_h141" type="capsule" fromto="0.051194 -0.015265 -0.013717 0.052195 -0.012709 -0.009203" size="0.003" 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"/><geom name="cylinder_h142" type="capsule" fromto="0.052195 -0.012709 -0.009203 0.052798 -0.010115 -0.004619" size="0.003" 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"/><geom name="cylinder_h143" type="capsule" fromto="0.052798 -0.010115 -0.004619 0.053 -0.0075 0" size="0.003" 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="upper" pos="0 0.03 0.09"><joint name="j_u" type="slide" axis="0 1 0" damping="0.5" frictionloss="0" range="-0.07 0.01" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.04286824267 -0.0001130314992" mass="0.351767271" fullinertia="0.0006061271128 0.00009972666205 0.0006051423588 0 0 0.000001704474852"/><geom name="upper_h0" type="capsule" fromto="0 0 0 0 0 -0.0375" size="0.003" 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="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_c" kv="5" forcerange="-10 10"/></actuator>
</mujoco>
