<mujoco model="145-beam-crank-flywheel">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="standard" pos="0.29 0 -0.15"><joint name="j_s" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.006698361971 0.03026150704 0" mass="0.2" fullinertia="0.00001532625595 0.00008218963739 0.00007136310416 -9.893386385e-7 0 0"/></body>
<body name="beam" pos="0 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.004 0" mass="0.4" fullinertia="0.0000144910104 0.003074938243 0.003065619211 0 0 0"/><body name="rod_r" pos="0.14 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.0135 -0.04" mass="0.1" fullinertia="0.0000889264465 0.00008956606805 0.000001456288216 0 0 0"/></body>
<body name="rod_a" pos="-0.14 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.00654583684 0.0135 -0.03912921555" mass="0.1" fullinertia="0.00007390802985 0.00007632263702 0.000003231273835 0 -0.00001216379761 0"/><body name="rod_b" pos="0 0 0"><joint name="j_t" type="slide" axis="-0.165 0 -0.9863" damping="1" frictionloss="0" range="-0.006 0.006" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="40" springref="0"/><inertial pos="-0.02155826921 0.0135 -0.1288714858" mass="0.1" fullinertia="0.00008458851814 0.00008742760063 0.00000338904107 0 -0.00001397478154 0"/></body>
</body>
</body>
<body name="lever" pos="0.21 0 -0.08"><joint name="j_v" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.01402512542 0.0215 -0.01402512542" mass="0.2" fullinertia="0.0001171615762 0.0002323534278 0.0001171615762 0 0.00003934082861 0"/><body name="link" pos="0 0 -0.07"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.04 0.0295 0" mass="0.1" fullinertia="0.000001283861746 0.00008218365347 0.00008171645839 0 0 0"/></body>
</body>
<body name="crank" pos="-0.137807 0 -0.159078"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="-0.0003387213835 0.0256162381 0.00001505717958" mass="1.2" fullinertia="0.00226661596 0.004519314076 0.002276262111 -0.000003908670569 4.296494041e-7 1.737521087e-7"/></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_b" body1="rod_r" body2="lever" anchor="0 0 -0.08" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_s" body1="link" body2="standard" anchor="0.08 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_p" body1="rod_b" body2="crank" anchor="-0.026399 0 -0.157807" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_r" body2="lever"/><exclude body1="link" body2="standard"/><exclude body1="rod_b" body2="crank"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
