File: frameless_contact.xml

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<mujoco model="frameless contact">
  <worldbody>
    <geom type="box" pos="0.0 0.0 -0.46" size="0.4 0.4 0.46"/>
    <body>
      <joint type="slide" axis="1 0 0"/>
      <geom pos="0.2 0 0.02" size="0.062 0.02" type="cylinder"/>
    </body>
  </worldbody>
</mujoco>