<mujoco model="464-heros-fountain">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="30" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="jug" pos="0.18 0 0.505"><joint name="j_j" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.04274327648 0.007390797159 -0.04036433586" mass="0.4" fullinertia="0.0003226486444 0.0006126683891 0.0004961841665 0.000008110000014 -0.00001480433189 -0.00002324948446"/></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_j" kv="100" forcerange="-40 40"/></actuator>
</mujoco>
