<mujoco model="157-crank-pin-connecting-rod-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="0.134065 -0.016 0.021354 0.134065 -0.006 0.021354 0.214892 -0.016 0.021354 0.214892 -0.006 0.021354 0.214892 -0.016 0.026354 0.214892 -0.006 0.026354 0.134065 -0.016 0.026354 0.134065 -0.006 0.026354"/><mesh name="bar_h1" vertex="0.134065 -0.016 0.005954 0.134065 -0.006 0.005954 0.214892 -0.016 0.005954 0.214892 -0.006 0.005954 0.214892 -0.016 0.010954 0.214892 -0.006 0.010954 0.134065 -0.016 0.010954 0.134065 -0.006 0.010954"/></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="0.0007986383872 0.006930441777 0" mass="1" fullinertia="0.0006094077389 0.00103550448 0.0006367222591 0.00001831313104 0 0"/><body name="conrod" pos="0.035 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0316665 -0.026 0.031972" mass="0.2" fullinertia="0.0001367522627 0.0002699555736 0.0001341907013 0 -0.0001333962091 0"/></body>
</body>
<body name="crank" pos="0.11 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.01706410055 -0.01180640135 0.01425781041" mass="0.4" fullinertia="0.0001507146763 0.000530985277 0.000388584564 -0.000004277064087 0.00004578937826 0.000006450007396"/><geom name="crank_h0" type="capsule" fromto="0.088538 -0.017 0.016154 0.088538 -0.005 0.016154" 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="0 0 1" damping="0.3" frictionloss="0"/><inertial pos="0.2153391374 -0.006691033417 0.016154" mass="0.4" fullinertia="0.0009472719864 0.001076958531 0.0001559711891 -0.00001129442635 0 0"/><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><connect name="pin_t" body1="conrod" body2="crank" anchor="0.063333 -0.026 0.063944" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="crank"/></contact>
<actuator><velocity name="drive" joint="j_d" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
