<mujoco model="422-oscillating-piston-engine">
<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="piston" pos="0 0 0.024"><joint name="j_B" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.39 0.39" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.001441090322 0.01532143718 0.02905113373" mass="0.1656061925" fullinertia="0.0002245149296 0.0001985016829 0.00003599425104 -0.00000595705313 -0.000001085761059 0.00001799100052"/><body name="rod" pos="0.018505 0 0.04645"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.0001" frictionloss="0"/><inertial pos="0.042787 0.048 -0.025657" mass="0.02622646404" fullinertia="0.000009002691762 0.00003363608067 0.00002475087578 0 0.00001474536226 0"/></body>
</body>
<body name="crank" pos="0.11 0 0.034"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.00008130707305 0.07207288867 -0.000204105537" mass="0.4290129051" fullinertia="0.0001623280111 0.0002670042186 0.0001615640124 -6.517119221e-7 -3.617402759e-7 -0.00000163600018"/></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="rod" body2="crank" anchor="0.085574 0.048 -0.051314" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="crank"/></contact>
<actuator><motor name="foot1" joint="j_B" gear="1" ctrlrange="0 0.24"/><motor name="foot2" joint="j_B" gear="-1" ctrlrange="0 0.24"/></actuator>
</mujoco>
