<mujoco model="147-steam-engine-governor">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="shaft_h46" type="mesh" mesh="shaft_h46" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="shaft_h47" type="mesh" mesh="shaft_h47" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="spin" pos="0 0 0"><joint name="j_h" type="hinge" axis="0 0 1" damping="0.02" frictionloss="0"/><inertial pos="0 0 0.11" mass="0.05" fullinertia="0.000007879166667 0.000007879166667 0.000007225 0 0 0"/><body name="head" pos="0 0 0"><joint name="j_z" type="slide" axis="0 0 1" damping="0.3" frictionloss="0" range="-0.0005 0.034" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="70" springref="0"/><inertial pos="0 0 0.1031123044" mass="0.3" fullinertia="0.0002463003406 0.0013680903 0.00122826192 0.000008755986827 0 0"/><geom name="head_h0" type="capsule" fromto="-0.019775 0.002989 0.00691 -0.045483 0.006874 0.00691" size="0.005" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="head_h1" type="capsule" fromto="0.019775 -0.002989 0.00691 0.045483 -0.006874 0.00691" size="0.005" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
</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="0.3" forcerange="-3 3"/></actuator>
</mujoco>
