<mujoco model="172-egg-shaped-elliptical-movement">
<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="block_h0" vertex="0.030215 -0.028 -0.000873 0.030215 -0.017 -0.000873 -0.029097 -0.028 0.008188 -0.029097 -0.017 0.008188 -0.028493 -0.028 0.012142 -0.028493 -0.017 0.012142 0.030819 -0.028 0.003081 0.030819 -0.017 0.003081"/><mesh name="block_h1" vertex="0.029097 -0.028 -0.008188 0.029097 -0.017 -0.008188 -0.030215 -0.028 0.000873 -0.030215 -0.017 0.000873 -0.030819 -0.028 -0.003081 -0.030819 -0.017 -0.003081 0.028493 -0.028 -0.012142 0.028493 -0.017 -0.012142"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0.08 0 -0.0015"><joint name="j_c" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.007719859526 -0.00920547516 -0.01102510209" mass="0.3" fullinertia="0.00008765770909 0.0001209053276 0.00005554086293 0.000006472001763 0.0000441200348 -0.000009242976497"/><body name="bar" pos="0.022943 0 -0.032766"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.1011162991 -0.02246001944 0.01544714113" mass="0.2" fullinertia="0.00003390197981 0.001343862929 0.001315010831 -0.000005553685036 0.0002003838636 8.484374753e-7"/><geom name="bar_h0" type="capsule" fromto="0.015817 -0.0225 -0.002416 -0.252427 -0.0225 0.038562" size="0.0035" contype="8" conaffinity="16" condim="3" friction="0.15 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="block" pos="-0.105 0 -0.0025"><joint name="j_k" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.01569078863 0" mass="0.3" fullinertia="0.00002802124716 0.0000520088773 0.00005784531474 0 0.000004664894176 0"/><geom name="block_h0" type="mesh" mesh="block_h0" contype="16" conaffinity="8" condim="3" friction="0.02 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="block_h1" type="mesh" mesh="block_h1" contype="16" conaffinity="8" condim="3" friction="0.02 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_c" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
