<mujoco model="100-quick-return-crank">
<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="lever_h0" vertex="0.0052 -0.01 -0.04 0.0052 0.002 -0.04 0.0182 -0.01 -0.04 0.0182 0.002 -0.04 0.0182 -0.01 -0.14 0.0182 0.002 -0.14 0.0052 -0.01 -0.14 0.0052 0.002 -0.14"/><mesh name="lever_h1" vertex="-0.0052 -0.01 -0.04 -0.0052 0.002 -0.04 -0.0182 -0.01 -0.04 -0.0182 0.002 -0.04 -0.0182 -0.01 -0.14 -0.0182 0.002 -0.14 -0.0052 -0.01 -0.14 -0.0052 0.002 -0.14"/><mesh name="lever_h2" vertex="-0.0182 -0.01 -0.027 -0.0182 0.002 -0.027 0.0182 -0.01 -0.027 0.0182 0.002 -0.027 0.0182 -0.01 -0.04 0.0182 0.002 -0.04 -0.0182 -0.01 -0.04 -0.0182 0.002 -0.04"/><mesh name="lever_h3" vertex="-0.0182 -0.01 -0.14 -0.0182 0.002 -0.14 0.0182 -0.01 -0.14 0.0182 0.002 -0.14 0.0182 -0.01 -0.153 0.0182 0.002 -0.153 -0.0182 -0.01 -0.153 -0.0182 0.002 -0.153"/></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 0.00383645766 0.0006787330317" mass="1.5" fullinertia="0.0009653865909 0.001807610372 0.0009355346223 0 0 0.00001103259264"/><geom name="disk_h0" type="capsule" fromto="0 0 0.03 0 -0.014 0.03" 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="lever" pos="0 0 0.09"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.1" frictionloss="0"/><inertial pos="0 -0.004 -0.09806482347" mass="0.6" fullinertia="0.002383702451 0.002440526473 0.00007122402252 0 0 0"/><geom name="lever_h0" type="mesh" mesh="lever_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="lever_h1" type="mesh" mesh="lever_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="lever_h2" type="mesh" mesh="lever_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="lever_h3" type="mesh" mesh="lever_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 name="link" pos="0 0 -0.21"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.07264973454 -0.016 0" mass="0.3" fullinertia="0.000003445487406 0.0008917951719 0.0008897404404 0 0 0"/></body>
</body>
<body name="ram" pos="0.16 0 -0.12"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.074449 0.074546" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="5" springref="-0.4"/><inertial pos="0.02243368912 -0.01001952604 0" mass="0.8" fullinertia="0.00006906765896 0.0006180542771 0.0005744956585 -3.504328612e-7 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="link" body2="ram" anchor="0.16 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="ram"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
