<mujoco model="480-another-gasometer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="bell" pos="0 0 0.56"><joint name="j_a" type="slide" axis="0 0 1" damping="20" frictionloss="0" range="-0.12 0.1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.08521288749 -0.1066886246" mass="2" fullinertia="0.0267049875 0.04122745989 0.02979820851 0 0 0.0003890038412"/></body>
<body name="cock" pos="0.34 0 0.055"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.01841088789 0.04363239069" mass="0.3" fullinertia="0.0003922738021 0.000390632423 0.000009503324496 0 0 0.00002080102819"/></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_k" kv="300" forcerange="-20 20"/></actuator>
</mujoco>
