<mujoco model="89-eccentric-strap-rod">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="shaft" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.01238709677 0.0005225806452 0" mass="1" fullinertia="0.0002754344364 0.0004607533819 0.0003078007215 0.000006473257024 0 0"/><body name="strap" pos="0.015 0 0"><joint name="j_e" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.02956369039 0 0" mass="0.4" fullinertia="0.0002073848131 0.001483761278 0.001293411983 0 0 0"/></body>
</body>
<body name="valve_rod" pos="0.175 0 0"><joint name="j_v" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.1545012626 0 -0.002254157541" mass="0.5" fullinertia="0.00004233863471 0.001850240669 0.00184737985 0 0.00003437447949 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><connect name="pin_v" body1="strap" body2="valve_rod" anchor="0.16 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="strap" body2="valve_rod"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
