<mujoco model="175-one-revolution-per-stroke">
<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_c" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.0128749912 0.009551010922" mass="0.4" fullinertia="0.00007601674708 0.00008640828655 0.00001591954106 0 0 -0.000001432618015"/><body name="rod" pos="0 0 0.03"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.03316130717 -0.005222781863 -0.0463558804" mass="0.3" fullinertia="0.0002936432198 0.0004433272506 0.0001520407557 0.000001645380127 -0.0002074682795 0.000002300061454"/></body>
</body>
<body name="slider" pos="-0.064 0 -0.059465"><joint name="j_sl" type="slide" axis="0 0 1" damping="0.05" frictionloss="0"/><inertial pos="0 0.00075 0" mass="0.2" fullinertia="0.00001030416667 0.00001286666667 0.000003970833333 0 0 0"/></body>
<body name="standard" 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_s" body1="rod" body2="slider" anchor="-0.064 0 -0.089465" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="slider"/></contact>
<actuator><velocity name="drive" joint="j_c" kv="2" forcerange="-20 20"/></actuator>
</mujoco>
