<mujoco model="427-rotary-engine-radial-pistons">
<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="hub" pos="0 0 0.111"><joint name="j_B" type="hinge" axis="0 1 0" damping="0.0391" frictionloss="0"/><inertial pos="0 0.01203486626 0" mass="1.167809968" fullinertia="0.0008414936002 0.001633413657 0.0008463050903 0 0.000006609692633 0"/></body>
<body name="ring_1" pos="0 0 0.095"><joint name="j_r1" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="-0.02340407618 -0.001435038835 0.02654657188" mass="0.02769657605" fullinertia="0.000009287070542 0.00001634786891 0.000007629624186 8.768266651e-7 0.00000656055113 -9.94559203e-7"/><body name="packing_1" pos="-0.036862 0 0.041811"><joint name="j_s1" type="slide" axis="-0.6613 0 0.7501" damping="0.00002" frictionloss="0" range="-0.02924 0.00826" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0" mass="0.00444755272" fullinertia="4.69772756e-8 6.726923489e-8 4.69772756e-8 0 0 0"/></body>
</body>
<body name="ring_2" pos="0 0 0.095"><joint name="j_r2" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0.0343083007 -0.000982799749 -0.009131422659" mass="0.02744636427" fullinertia="0.000002614894732 0.00001630840457 0.00001405683948 -8.834813547e-7 0.000003277509049 2.351456769e-7"/><body name="packing_2" pos="0.036862 0 -0.009811"><joint name="j_s2" type="slide" axis="0.9664 0 -0.2572" damping="0.00002" frictionloss="0" range="-0.011645 0.025855" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0" mass="0.00444755272" fullinertia="4.69772756e-8 6.726923489e-8 4.69772756e-8 0 0 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="pk_1" body1="packing_1" body2="hub" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pk_2" body1="packing_2" body2="hub" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="packing_1" body2="hub"/><exclude body1="packing_2" body2="hub"/></contact>
<actuator><motor name="port1" joint="j_r1" gear="1" ctrlrange="0 0.9"/><motor name="port2" joint="j_r2" gear="1" ctrlrange="0 0.9"/></actuator>
</mujoco>
