<mujoco model="421-trunk-engine-marine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0.24"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.0047" frictionloss="0"/><inertial pos="0.0003842843018 0.08193643037 0" mass="2.045500129" fullinertia="0.002357043087 0.002423534783 0.002376466307 0.00006965204223 0 0"/></body>
<body name="piston" pos="0 0 0.072668"><joint name="j_x" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.035668 0.030332" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.02157368516 0.01697988125" mass="0.9197923528" fullinertia="0.001256742626 0.001735175047 0.0007408889281 0 0 0.00001369827298"/><body name="pitman" pos="0 0 0"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.01472419076 -0.013 0.08212760962" mass="0.06396879389" fullinertia="0.0002099143954 0.000216830678 0.000007306474221 0 -0.00003753076482 0"/></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_c" body1="pitman" body2="crank" anchor="0.03 -0.013 0.167332" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="pitman" body2="crank"/></contact>
<actuator><motor name="foot1" joint="j_x" gear="1" ctrlrange="0 6"/><motor name="foot2" joint="j_x" gear="-1" ctrlrange="0 6"/></actuator>
</mujoco>
