<mujoco model="156-crank-pin-slot-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="crank_h0" vertex="-0.139 -0.016 0.0052 -0.139 -0.002 0.0052 -0.043 -0.016 0.0052 -0.043 -0.002 0.0052 -0.043 -0.016 0.0107 -0.043 -0.002 0.0107 -0.139 -0.016 0.0107 -0.139 -0.002 0.0107"/><mesh name="crank_h1" vertex="-0.139 -0.016 -0.0107 -0.139 -0.002 -0.0107 -0.043 -0.016 -0.0107 -0.043 -0.002 -0.0107 -0.043 -0.016 -0.0052 -0.043 -0.002 -0.0052 -0.139 -0.016 -0.0052 -0.139 -0.002 -0.0052"/><mesh name="bar_h0" vertex="0.0793 0.019 -0.142 0.0793 0.034 -0.142 0.0848 0.019 -0.142 0.0848 0.034 -0.142 0.0848 0.019 -0.098 0.0848 0.034 -0.098 0.0793 0.019 -0.098 0.0793 0.034 -0.098"/><mesh name="bar_h1" vertex="0.0952 0.019 -0.142 0.0952 0.034 -0.142 0.1007 0.019 -0.142 0.1007 0.034 -0.142 0.1007 0.019 -0.098 0.1007 0.034 -0.098 0.0952 0.019 -0.098 0.0952 0.034 -0.098"/></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="0.0007117052175 0.007151401952 0" mass="1" fullinertia="0.0006019239413 0.001035215472 0.0006263270996 0.00001078333182 0 0"/><geom name="disk_h0" type="capsule" fromto="0.035 -0.016 0 0.035 0 0" size="0.004" 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="0.09 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.03861029268 0.001227027756 -0.01945704471" mass="0.4" fullinertia="0.0006153844904 0.001518319553 0.001008332844 -0.0001528281384 0.0003004968763 0.00009453223433"/><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="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_h2" type="capsule" fromto="0 0.008 -0.12 0 0.032 -0.12" size="0.004" 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="0.3" frictionloss="0"/><inertial pos="0.09 0.02524522822 -0.141442462" mass="0.4" fullinertia="0.00007947893635 0.002259158269 0.002200446492 0 0 -0.00000253842241"/><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="mesh" mesh="bar_h1" 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="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>
