<mujoco model="355-gyroscope-rotascope">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicit" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<geom name="pillar_r0" type="capsule" fromto="0 0 -0.16 0 0 -0.016" size="0.009" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="cap" pos="0 0 0"><joint name="j_v" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0 0 -0.009228958631" mass="0.01717760031" fullinertia="4.051725136e-7 5.034229964e-7 4.397073609e-7 0 0 0"/><body name="ring" pos="0 0 0"><joint name="j_t" type="hinge" axis="1 0 0" damping="0" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.06981040532 0" mass="0.131795928" fullinertia="0.0003038768796 0.0002575995366 0.0005606487295 0 0 0"/><body name="disk" pos="0 0.075 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0" frictionloss="0"/><inertial pos="2.903849538e-10 -0.00007111526521 -7.601285779e-10" mass="1.567447929" fullinertia="0.001077348966 0.001922186467 0.001077348826 5.88475377e-12 1.62711822e-12 -1.540427442e-11"/></body>
</body>
</body>
<body name="base" pos="0 0 -0.168"></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_s" kv="1" forcerange="-20 20"/></actuator>
</mujoco>
