<mujoco model="169-crank-link-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>
<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 0.003314253648 0.005084175084" mass="0.3" fullinertia="0.0000401299481 0.0000376812077 0.00001658156868 0 0 0.000005782346473"/><body name="link" pos="0 0 0.03"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.0213495 -0.009 0.0245045" mass="0.2" fullinertia="0.00007137000188 0.0001238329919 0.00005470047319 0 0.00006028097728 0"/></body>
</body>
<body name="slide" pos="0.119466 0 -0.02"><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="-0.0822954228 -0.01689974169 0.05024504373" mass="0.4" fullinertia="0.0003952112223 0.001434897569 0.001048434708 0.0000184315629 0.0006358417409 -0.00001125329517"/></body>
</body>
<body name="crank2" pos="0.07 0 0.035"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.004204108681 -0.007303490579 -0.0003385875066" mass="0.25" fullinertia="0.00004536632059 0.00003296733974 0.00006543621766 -0.00001649745788 -0.000001626927724 -0.000001328660497"/></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_lp" body1="link" body2="pitman" anchor="-0.042699 0 0.049009" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_q" body1="crank2" body2="pitman" anchor="-0.035884 0 -0.00289" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="pitman"/><exclude body1="crank2" body2="pitman"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="400" forcerange="-400 400"/></actuator>
</mujoco>
