<mujoco model="158-treadle-connecting-rod-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="disk" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0001759605413 0.002625126786 -0.00002714754668" mass="1.524564876" fullinertia="0.002262027301 0.004367958841 0.002268452759 -0.000004996437244 -0.000001015336861 -7.708604004e-7"/><body name="conrod" pos="-0.024708 0 -0.003812"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.022259 -0.026 -0.1051705" mass="0.1" fullinertia="0.0005789153779 0.0006051782815 0.00002675552292 0 0.0001223431518 0"/></body>
</body>
<body name="treadle" pos="-0.07 0 -0.22"><joint name="j_t" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.1066359376 -0.01302352411 0.006942895246" mass="0.3" fullinertia="0.00002754820385 0.001159277719 0.001144480136 0.00001319659198 -0.0000730314752 8.592079009e-7"/></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_b" body1="conrod" body2="treadle" anchor="0.044518 -0.026 -0.210341" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="treadle"/></contact>
<actuator><velocity name="drive" joint="j_t" kv="0.3" forcerange="-3 3"/></actuator>
</mujoco>
