<mujoco model="400-four-motion-feed">
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_c" kv="0.3" forcerange="-3 3"/></actuator>
</mujoco>
