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<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_turn" kv="5" forcerange="-2 2"/></actuator>
</mujoco>
