<mujoco model="423-roots-double-quadrant-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_l" pos="-0.082 0 0.116"><joint name="j_L" type="hinge" axis="0 -1 0" damping="0.00005" frictionloss="0" range="-0.0982 0.7344" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.041530348 0.007729875495 0.02711768107" mass="0.1326711111" fullinertia="0.00007911486067 0.0002521152934 0.0001794960767 0.000001482378904 -0.0001142618115 9.679165227e-7"/><body name="rod_l" pos="0.082894 0 0.054126"><joint name="j_rl" type="hinge" axis="0 -1 0" damping="0.00001" frictionloss="0"/><inertial pos="0.007096 -0.008 -0.0388575" mass="0.02557041267" fullinertia="0.0000212329915 0.0000220218381 9.011975506e-7 0 0.000003841002263 0"/></body>
</body>
<body name="piston_r" pos="0.08 0 0.116"><joint name="j_R" type="hinge" axis="0 -1 0" damping="0.00005" frictionloss="0" range="-0.7984 0.0602" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.009592440506 0.007432930668 -0.03741256597" mass="0.114534447" fullinertia="0.000144036042 0.0001509521754 0.00001381602297 -9.336128673e-7 -0.00003573758483 -0.000003641262427"/><body name="rod_r" pos="-0.023967 0 -0.093476"><joint name="j_rr" type="hinge" axis="0 -1 0" damping="0.00001" frictionloss="0"/><inertial pos="-0.0204735 -0.014 0.0349435" mass="0.02601123991" fullinertia="0.00001739133029 0.00002337962578 0.000006102630162 0 0.00001007142422 0"/></body>
</body>
<body name="crank" pos="0 0 0.116"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.0013" frictionloss="0"/><inertial pos="0.0003199064303 0.02800396601 -0.0005002192935" mass="0.6056706501" fullinertia="0.0003212867635 0.0003207646556 0.0003178584164 0.000009042229591 0.000003709894531 -0.00001413881754"/></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_l" body1="rod_l" body2="crank" anchor="0.014192 -0.008 -0.077715" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_r" body1="rod_r" body2="crank" anchor="-0.040947 -0.014 0.069887" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_l" body2="crank"/><exclude body1="rod_r" body2="crank"/></contact>
<actuator><motor name="foot1" joint="j_L" gear="-1" ctrlrange="0 0.15"/><motor name="foot2" joint="j_R" gear="-1" ctrlrange="0 0.15"/></actuator>
</mujoco>
