<mujoco model="425-rotary-engine-eccentric-piston">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="piston_h0" vertex="0.0531 0.004 -0.0115 0.0531 0.02 -0.0115 0.0512906614 0.004 0.00224329129 0.0512906614 0.02 0.00224329129 0.0459859489 0.004 0.01505 0.0459859489 0.02 0.01505 0.0375473701 0.004 0.0260473701 0.0375473701 0.02 0.0260473701 0.02655 0.004 0.0344859489 0.02655 0.02 0.0344859489 0.0137432913 0.004 0.0397906614 0.0137432913 0.02 0.0397906614 3.25143725e-18 0.004 0.0416 3.25143725e-18 0.02 0.0416 -0.0137432913 0.004 0.0397906614 -0.0137432913 0.02 0.0397906614 -0.02655 0.004 0.0344859489 -0.02655 0.02 0.0344859489 -0.0375473701 0.004 0.0260473701 -0.0375473701 0.02 0.0260473701 -0.0459859489 0.004 0.01505 -0.0459859489 0.02 0.01505 -0.0512906614 0.004 0.00224329129 -0.0512906614 0.02 0.00224329129 -0.0531 0.004 -0.0115 -0.0531 0.02 -0.0115 -0.0512906614 0.004 -0.0252432913 -0.0512906614 0.02 -0.0252432913 -0.0459859489 0.004 -0.03805 -0.0459859489 0.02 -0.03805 -0.0375473701 0.004 -0.0490473701 -0.0375473701 0.02 -0.0490473701 -0.02655 0.004 -0.0574859489 -0.02655 0.02 -0.0574859489 -0.0137432913 0.004 -0.0627906614 -0.0137432913 0.02 -0.0627906614 -9.75431176e-18 0.004 -0.0646 -9.75431176e-18 0.02 -0.0646 0.0137432913 0.004 -0.0627906614 0.0137432913 0.02 -0.0627906614 0.02655 0.004 -0.0574859489 0.02655 0.02 -0.0574859489 0.0375473701 0.004 -0.0490473701 0.0375473701 0.02 -0.0490473701 0.0459859489 0.004 -0.03805 0.0459859489 0.02 -0.03805 0.0512906614 0.004 -0.0252432913 0.0512906614 0.02 -0.0252432913"/><mesh name="abutment_h0" vertex="-0.0065 0.004 0 -0.0065 0.02 0 0.0065 0.004 0 0.0065 0.02 0 0.0065 0.004 0.062 0.0065 0.02 0.062 -0.0065 0.004 0.062 -0.0065 0.02 0.062"/></asset>
<size memory="64M"/>
<worldbody>
<body name="piston" pos="0 0 0.09"><joint name="j_B" type="hinge" axis="0 -1 0" damping="0.06" frictionloss="0"/><inertial pos="0 0.04676610666 -0.001414213839" mass="9.137240253" fullinertia="0.0197482875 0.03385949796 0.01960740918 0 0 -0.000449248034"/><geom name="piston_h0" type="mesh" mesh="piston_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port1" pos="0 0.012 -0.0115" size="0.002" group="4"/><site name="port2" pos="0 0.012 -0.0115" size="0.002" group="4"/><site name="port3" pos="0 0.012 -0.0115" size="0.002" group="4"/></body>
<body name="abutment" pos="0 0 0.1316"><joint name="j_D" type="slide" axis="0 0 1" damping="0.02" frictionloss="0" range="-0.003 0.026" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.012 0.031" mass="0.1005888" fullinertia="0.00003436784 0.0000336385712 0.00000356252 0 0 0"/><geom name="abutment_h0" type="mesh" mesh="abutment_h0" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="frame" pos="0 0 0"></body>
<site name="ports_ref" pos="0 0 0" size="0.001" group="4"/><geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="port1" site="port1" refsite="ports_ref" gear="1 0 0 0 0 0" ctrlrange="0 120"/><motor name="port2" site="port2" refsite="ports_ref" gear="0 0 1 0 0 0" ctrlrange="0 120"/><motor name="port3" site="port3" refsite="ports_ref" gear="0 0 -1 0 0 0" ctrlrange="0 120"/></actuator>
</mujoco>
