<mujoco model="474-aeolipile">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="globe" pos="0 0 0.46"><joint name="j_g" type="hinge" axis="1 0 0" damping="0.0016" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" fullinertia="0.000822576456 0.0007679765278 0.0007679765278 0 0 0"/></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><motor name="drive" joint="j_g" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
