<mujoco model="161-centrifugal-governor-steam-engine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0 0 0.2235230345" mass="0.4" fullinertia="0.005349973276 0.005350634037 0.00002083179983 0 0 0"/><body name="sleeve" pos="0 0 0.184926"><joint name="j_z" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.06 0.14" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0" mass="0.15" fullinertia="0.00001333218678 0.00001372251153 0.00001385809954 0 0 0"/><body name="link_r" pos="0.01 0 0"><joint name="j_lr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.01510691084 -0.009 0.03483377142" mass="0.03" fullinertia="0.00002123137328 0.00002521029632 0.000004120954325 0 -0.000009139540478 0"/></body>
<body name="link_l" pos="-0.01 0 0"><joint name="j_ll" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.01510691084 -0.009 0.03483377142" mass="0.03" fullinertia="0.00002123137328 0.00002521029632 0.000004120954325 0 0.000009139540478 0"/></body>
</body>
<body name="arm_r" pos="0.012 0 0.34"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.004" frictionloss="0"/><inertial pos="0.05073538273 -0.00005305039268 -0.1088015016" mass="0.4" fullinertia="0.000686466397 0.0008376259887 0.0001892820115 -3.591805002e-7 0.0002962645766 7.702174654e-7"/></body>
<body name="arm_l" pos="-0.012 0 0.34"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.004" frictionloss="0"/><inertial pos="-0.05073538273 -0.00005305039268 -0.1088015016" mass="0.4" fullinertia="0.000686466397 0.0008376259887 0.0001892820115 3.591805002e-7 -0.0002962645766 7.702174654e-7"/></body>
</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><connect name="pin_r" body1="link_r" body2="arm_r" anchor="0.035809 0 0.082569" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_l" body1="link_l" body2="arm_l" anchor="-0.035809 0 0.082569" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_r" body2="arm_r"/><exclude body1="link_l" body2="arm_l"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
