<mujoco model="429-hollys-double-elliptical-rotary-engine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
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<worldbody>
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<body name="piston_r" pos="0.04 0 0.09"><joint name="j_R" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0.0165603264 0" mass="0.9219503369" fullinertia="0.0006196503293 0.0010557737 0.0006196503293 0 -0.0003048454923 0"/><geom name="piston_r_h0" type="mesh" mesh="piston_r_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h1" type="mesh" mesh="piston_r_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h2" type="mesh" mesh="piston_r_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h3" type="mesh" mesh="piston_r_h3" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h4" type="mesh" mesh="piston_r_h4" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h5" type="mesh" mesh="piston_r_h5" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h6" type="mesh" mesh="piston_r_h6" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h7" type="mesh" mesh="piston_r_h7" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h8" type="mesh" mesh="piston_r_h8" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h9" type="mesh" mesh="piston_r_h9" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h10" type="mesh" mesh="piston_r_h10" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h11" type="mesh" mesh="piston_r_h11" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h12" type="mesh" mesh="piston_r_h12" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h13" type="mesh" mesh="piston_r_h13" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h14" type="mesh" mesh="piston_r_h14" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h15" type="mesh" mesh="piston_r_h15" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h16" type="mesh" mesh="piston_r_h16" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h17" type="mesh" mesh="piston_r_h17" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h18" type="mesh" mesh="piston_r_h18" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="piston_r_h19" type="mesh" mesh="piston_r_h19" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></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></equality>

<actuator><motor name="foot1" joint="j_L" gear="1" ctrlrange="0 0.3675"/><motor name="foot2" joint="j_R" gear="1" ctrlrange="0 0.3675"/></actuator>
</mujoco>
