<mujoco model="287-pickering-governor">
<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 0.2734774794" mass="0.4" fullinertia="0.002709738589 0.002709738589 0.0001044073077 0 0 0"/><body name="sleeve" pos="0 0 0.128039"><joint name="j_z" type="slide" axis="0 0 1" damping="0.3" frictionloss="0" range="-0.0005 0.08" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.01565226949" mass="0.3" fullinertia="0.00009743334551 0.00009743334551 0.00005490882581 0 0 0"/></body>
<body name="up_r" pos="0.016 0 0.3"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.08" frictionloss="0" stiffness="0.4" springref="0.2166"/><inertial pos="0.02657993691 0 -0.08592484128" mass="0.52" fullinertia="0.00006602734914 0.0000957550833 0.00006437584933 0 5.649385933e-7 0"/><body name="lo_r" pos="0.026597 0 -0.08598"><joint name="j_kr" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0" stiffness="0.15" springref="0.4331"/><inertial pos="-0.01497490046 0 -0.0484091511" mass="0.02" fullinertia="0.00001520120296 0.00001628381135 0.000001789741269 0 -0.000004587572887 0"/></body>
</body>
<body name="up_l" pos="-0.016 0 0.3"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.08" frictionloss="0" stiffness="0.4" springref="0.2166"/><inertial pos="-0.02657993691 0 -0.08592484128" mass="0.52" fullinertia="0.00006602734914 0.0000957550833 0.00006437584933 0 -5.649385933e-7 0"/><body name="lo_l" pos="-0.026597 0 -0.08598"><joint name="j_kl" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0" stiffness="0.15" springref="0.4331"/><inertial pos="0.01497490046 0 -0.0484091511" mass="0.02" fullinertia="0.00001520120296 0.00001628381135 0.000001789741269 0 0.000004587572887 0"/></body>
</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="lo_r" body2="sleeve" anchor="-0.026597 0 -0.085981" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_l" body1="lo_l" body2="sleeve" anchor="0.026597 0 -0.085981" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lo_r" body2="sleeve"/><exclude body1="lo_l" body2="sleeve"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="1" forcerange="-5 5"/></actuator>
</mujoco>
