<mujoco model="461-pendulums-swinging-gutters">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="gutters" pos="0 0 -0.05"><joint name="j_g" type="hinge" axis="0 1 0" damping="0.005" frictionloss="0"/><inertial pos="-0.001283590503 0.01621355337 0.1379721367" mass="0.4" fullinertia="0.001975151684 0.00269173048 0.0008288884738 -0.000001484866727 0.0001345372351 0.00000658750916"/></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_g" kv="300" forcerange="-50 50"/></actuator>
</mujoco>
