<mujoco model="179-reversing-gear-single-engine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="ecc_h0" vertex="0.021182 -0.018 0.003545 0.021182 -0.009 0.003545 0.03048 -0.018 0.007226 0.03048 -0.009 0.007226 0.027168 -0.018 0.015594 0.027168 -0.009 0.015594 0.01787 -0.018 0.011913 0.01787 -0.009 0.011913"/><mesh name="ecc_h1" vertex="-0.01787 -0.018 0.011913 -0.01787 -0.009 0.011913 -0.027168 -0.018 0.015594 -0.027168 -0.009 0.015594 -0.03048 -0.018 0.007226 -0.03048 -0.009 0.007226 -0.021182 -0.018 0.003545 -0.021182 -0.009 0.003545"/></asset>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0007670119313 -0.005150190114 0" mass="0.4" fullinertia="0.00009814564261 0.000130566906 0.0001058872438 0.000001794749591 0 0"/><geom name="shaft_h0" type="capsule" fromto="0.026 -0.02 0 0.026 -0.002 0" size="0.005" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="ecc" pos="0 0 0"><joint name="j_e" type="hinge" axis="0 -1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0.003011362961 0.01970019243" mass="0.3" fullinertia="0.0001464431157 0.0002881337166 0.000150581439 0 0 -0.000001485069465"/><geom name="ecc_h0" type="mesh" mesh="ecc_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="ecc_h1" type="mesh" mesh="ecc_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="strap" pos="0 0 0.02"><joint name="j_strap" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.02524920457 0.0035 0" mass="0.2" fullinertia="0.000166173644 0.0007138888374 0.0005501891006 0 0 0"/></body>
</body>
<body name="spindle" pos="0.14 0 0.02"><joint name="j_vs" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.06634558207 0.0035 0" mass="0.2" fullinertia="0.000003057488547 0.0002614568047 0.0002608577827 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><connect name="pin_p" body1="strap" body2="spindle" anchor="0.14 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="strap" body2="spindle"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
