<mujoco model="98-crank-pin-endless-groove">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<asset><mesh name="arm_h0" vertex="0.0052 -0.01 -0.06 0.0052 0.002 -0.06 0.0182 -0.01 -0.06 0.0182 0.002 -0.06 0.0182 -0.01 -0.18 0.0182 0.002 -0.18 0.0052 -0.01 -0.18 0.0052 0.002 -0.18"/><mesh name="arm_h1" vertex="-0.0052 -0.01 -0.06 -0.0052 0.002 -0.06 -0.0182 -0.01 -0.06 -0.0182 0.002 -0.06 -0.0182 -0.01 -0.18 -0.0182 0.002 -0.18 -0.0052 -0.01 -0.18 -0.0052 0.002 -0.18"/><mesh name="arm_h2" vertex="-0.0182 -0.01 -0.047 -0.0182 0.002 -0.047 0.0182 -0.01 -0.047 0.0182 0.002 -0.047 0.0182 -0.01 -0.06 0.0182 0.002 -0.06 -0.0182 -0.01 -0.06 -0.0182 0.002 -0.06"/><mesh name="arm_h3" vertex="-0.0182 -0.01 -0.18 -0.0182 0.002 -0.18 0.0182 -0.01 -0.18 0.0182 0.002 -0.18 0.0182 -0.01 -0.193 0.0182 0.002 -0.193 -0.0182 -0.01 -0.193 -0.0182 0.002 -0.193"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.003476617855 0.000661313179" mass="1.5" fullinertia="0.001385175015 0.002660403161 0.001346152227 0 0 0.00001039248819"/><geom name="disk_h0" type="capsule" fromto="0 0 0.04 0 -0.014 0.04" size="0.005" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="arm" pos="0 0 0.12"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.1" frictionloss="0"/><inertial pos="0 -0.004 -0.1091834962" mass="0.6" fullinertia="0.002849317844 0.002909176723 0.00007425887921 0 0 0"/><geom name="arm_h0" type="mesh" mesh="arm_h0" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="arm_h1" type="mesh" mesh="arm_h1" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="arm_h2" type="mesh" mesh="arm_h2" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="arm_h3" type="mesh" mesh="arm_h3" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" 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>
