<mujoco model="153-disk-studs-bar-bell-crank">
<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>
<asset><mesh name="bar_h0" vertex="0.0155 -0.016 -0.007 0.0155 -0.002 -0.007 0.0285 -0.016 -0.007 0.0285 -0.002 -0.007 0.0285 -0.016 0.086982 0.0285 -0.002 0.086982 0.0155 -0.016 0.086982 0.0155 -0.002 0.086982"/><mesh name="crank_h0" vertex="0.002878 0.016 -0.002778 0.002878 0.024 -0.002778 -0.045746 0.016 -0.053135 -0.045746 0.024 -0.053135 -0.051501 0.016 -0.047578 -0.051501 0.024 -0.047578 -0.002878 0.016 0.002778 -0.002878 0.024 0.002778"/><mesh name="crank_h1" vertex="-0.00191 0.016 -0.001978 -0.00191 0.024 -0.001978 -0.060167 0.016 0.054273 -0.060167 0.024 0.054273 -0.056347 0.016 0.05823 -0.056347 0.024 0.05823 0.00191 0.016 0.001978 0.00191 0.024 0.001978"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.002188362732 0.006511558195 -0.0001245654089" mass="1" fullinertia="0.001364556832 0.002624837015 0.001425180851 6.988360438e-7 0.000002815775073 0.00001693055834"/><geom name="disk_h0" type="capsule" fromto="-0.051962 -0.016 0.03 -0.051962 0 0.03" size="0.0045" 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"/><geom name="disk_h1" type="capsule" fromto="-0.038971 0.006 -0.0225 -0.038971 0.032 -0.0225" size="0.0045" 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="bar" pos="0 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="1.5" frictionloss="0" range="-0.001 0.05975" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02036565111 0.003922507747 0.08386215677" mass="0.5" fullinertia="0.000331151179 0.00149497797 0.001334226881 0.000001520232227 0.000007435377473 -0.00004795339717"/><geom name="bar_h0" type="mesh" mesh="bar_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="bar_h1" type="capsule" fromto="0.0235 0.012 0.05 0.0235 0.03 0.05" size="0.004" 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="crank" pos="0.085 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0" range="0 0.8029" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01753958448 0.0201683862 -0.001037764771" mass="0.3" fullinertia="0.0001917506532 0.0002869551452 0.0001002060507 -8.860272185e-7 0.00001147566978 -5.242358135e-8"/><geom name="crank_h0" type="mesh" mesh="crank_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="crank_h1" type="mesh" mesh="crank_h1" 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="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_d" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
