<mujoco model="154-disk-studs-bell-crank-weighted-cord">
<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>
<asset><mesh name="crank_h0" vertex="0 0.016 -0.004 0 0.024 -0.004 -0.07 0.016 -0.004 -0.07 0.024 -0.004 -0.07 0.016 0.004 -0.07 0.024 0.004 0 0.016 0.004 0 0.024 0.004"/></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 0.007753988837 0" mass="1" fullinertia="0.000899738715 0.001686491833 0.0009702045804 0 0.00006102567788 0"/><geom name="disk_h0" 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"/><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="crank" pos="0.085 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0" range="-0.8029 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01282608348 0.02020879555 0.01148957423" mass="0.1" fullinertia="0.00004476708385 0.00008820831091 0.0000452508386 -2.678029202e-7 -0.00001473662382 -1.065746315e-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"/><site name="cord_a" pos="0 0.02 0.06" size="0.003"/></body>
<body name="weight" pos="0.142 0 -0.038"><joint name="j_w" type="slide" axis="0 0 1" damping="0.3" frictionloss="0"/><inertial pos="0 0.02 0" mass="0.6" fullinertia="0.0000538 0.0000626 0.0000488 0 0 0"/><site name="cord_b" pos="0 0.02 0.013" size="0.003"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="cord_over" type="cylinder" fromto="0.13 0.01 0.07 0.13 0.03 0.07" size="0.012" contype="0" conaffinity="0" group="3" mass="0"/><site name="cord_side" pos="0.13 0.02 0.112" size="0.003"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="cord" limited="true" range="0 0.1641422099" width="0.0015" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="cord_a"/><geom geom="cord_over" sidesite="cord_side"/><site site="cord_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_d" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
