<mujoco model="133-hand-crank-pinion-sector-platen">
<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>
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<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
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</worldbody>
<equality><connect name="pin_t" body1="rod" body2="platen" anchor="-0.059416 0 0.232529" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="platen"/></contact>
<actuator><velocity name="drive" joint="j_p" kv="40" forcerange="-40 40"/></actuator>
</mujoco>
