<mujoco model="93-crank-slotted-yoke">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="yoke_h0" vertex="-0.056 -0.012 0.0061 -0.056 -0.001 0.0061 0.056 -0.012 0.0061 0.056 -0.001 0.0061 0.056 -0.012 0.0151 0.056 -0.001 0.0151 -0.056 -0.012 0.0151 -0.056 -0.001 0.0151"/><mesh name="yoke_h1" vertex="-0.056 -0.012 -0.0151 -0.056 -0.001 -0.0151 0.056 -0.012 -0.0151 0.056 -0.001 -0.0151 0.056 -0.012 -0.0061 0.056 -0.001 -0.0061 -0.056 -0.012 -0.0061 -0.056 -0.001 -0.0061"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.003353188462 0.0008071400854" mass="1.5" fullinertia="0.001525788607 0.002937516288 0.001478337415 0 0 0.00001192935506"/><geom name="crank_h0" type="capsule" fromto="0 0 0.04 0 -0.013 0.04" size="0.006" 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"/></body>
<body name="yoke" pos="0 0 0.04"><joint name="j_z" type="slide" axis="0 0 1" damping="3" frictionloss="0" range="-0.095 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.0065 0.0174852151" mass="0.8" fullinertia="0.001141770915 0.001861599401 0.0007353295694 0 0 0"/><geom name="yoke_h0" type="mesh" mesh="yoke_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"/><geom name="yoke_h1" type="mesh" mesh="yoke_h1" 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>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
