<mujoco model="92-ordinary-crank-motion">
<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="wheel" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.0002236895903 0.0007546981745 0" mass="2" fullinertia="0.003781061382 0.007462807996 0.003798847429 0.000005035117647 0 0"/><body name="rod" pos="0.04 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.05849000871 -0.012 0" mass="0.4" fullinertia="0.000005052705668 0.0007961324762 0.0007929552228 0 0 0"/></body>
</body>
<body name="crosshead" pos="0.17 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.02622955866 -0.0009267271384 0" mass="0.8" fullinertia="0.0000538177882 0.001577964176 0.001548264816 -0.00001944611508 0 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_x" body1="rod" body2="crosshead" anchor="0.13 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="crosshead"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
