<mujoco model="424-roots-square-piston-engine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="piston_B" pos="0.016853 0 0.073"><joint name="j_Bx" type="slide" axis="1 0 0" damping="0.001" frictionloss="0" range="-0.041853 0.008147" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01092159097 0" mass="0.4218264" fullinertia="0.0007927390102 0.001492500793 0.0007343792752 0 0 0"/><body name="piston_C" pos="0 0 -0.014141"><joint name="j_Cz" type="slide" axis="0 0 1" damping="0.001" frictionloss="0" range="-0.010859 0.039141" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.011 0" mass="0.7573824" fullinertia="0.0002092900032 0.000782802678 0.0006240048348 0 0 0"/></body>
</body>
<body name="crank" pos="0 0 0.073"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0"/><inertial pos="0.00352015987 0.004435733882 -0.002953692561" mass="0.04431619039" fullinertia="0.000006545503736 0.000003663752056 0.000007065021386 0.000001326917925 0.000001472957906 -0.000001113389093"/></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="wrist_a" body1="crank" body2="piston_C" anchor="0.016853 0 -0.014141" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="crank" body2="piston_C"/></contact>
<actuator><motor name="port1" joint="j_Bx" gear="1" ctrlrange="0 30"/><motor name="port2" joint="j_Bx" gear="-1" ctrlrange="0 30"/><motor name="port3" joint="j_Cz" gear="1" ctrlrange="0 30"/><motor name="port4" joint="j_Cz" gear="-1" ctrlrange="0 30"/></actuator>
</mujoco>
