<mujoco model="168-slotted-crank-pitman-second-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="-0.0122 -0.012 -0.01 -0.0122 -0.004 -0.01 0.0122 -0.012 -0.01 0.0122 -0.004 -0.01 0.0122 -0.012 0.013439 0.0122 -0.004 0.013439 -0.0122 -0.012 0.013439 -0.0122 -0.004 0.013439"/><mesh name="crank_h1" vertex="0.0072 -0.012 0.013439 0.0072 -0.004 0.013439 0.0072 -0.012 0.075995 0.0072 -0.004 0.075995 0.0122 -0.012 0.075995 0.0122 -0.004 0.075995 0.0122 -0.012 0.013439 0.0122 -0.004 0.013439"/><mesh name="crank_h2" vertex="-0.0072 -0.012 0.013439 -0.0072 -0.004 0.013439 -0.0072 -0.012 0.075995 -0.0072 -0.004 0.075995 -0.0122 -0.012 0.075995 -0.0122 -0.004 0.075995 -0.0122 -0.012 0.013439 -0.0122 -0.004 0.013439"/><mesh name="crank_h3" vertex="-0.0122 -0.012 0.075995 -0.0122 -0.004 0.075995 0.0122 -0.012 0.075995 0.0122 -0.004 0.075995 0.0122 -0.012 0.080995 0.0122 -0.004 0.080995 -0.0122 -0.012 0.080995 -0.0122 -0.004 0.080995"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.002557099865 0.01697634205" mass="0.3" fullinertia="0.0002301579654 0.0002290027078 0.0000337581681 0 0 0.00002772016032"/><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="mesh" mesh="crank_h2" 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_h3" type="mesh" mesh="crank_h3" 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="slide" pos="0.140017 0 -0.0072"><joint name="j_e" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0.01873899011 -0.023 0" mass="0.3" fullinertia="0.00001111826743 0.000178870741 0.0001750493993 0 0 0"/><body name="pitman" pos="0 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.07402787461 -0.01667727026 0.02205606675" mass="0.4" fullinertia="0.00008252373758 0.0009159957411 0.0008445910294 0.00002275781228 0.0002491711691 -0.000006780479341"/><geom name="pitman_h0" type="capsule" fromto="-0.140017 -0.017 0.041717 -0.140017 -0.003 0.041717" size="0.006" 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>
<body name="crank2" pos="0.0501 0 -0.0114"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.00003774106181 -0.006786380981 0.003251167701" mass="0.25" fullinertia="0.00005821911733 0.00002664313765 0.00004448308232 -1.529797994e-7 1.594757524e-7 0.00001317829862"/></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_q" body1="crank2" body2="pitman" anchor="-0.000361 0 0.031098" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="crank2" body2="pitman"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
