<mujoco model="220-offset-crank-shafts-slot">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<size memory="64M"/>
<worldbody>
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<body name="crankB" pos="0.015 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0.002"/><inertial pos="-0.0001679219887 -0.004591538416 0" mass="0.08357135239" fullinertia="0.00001166395418 0.00007089740096 0.00007173948191 -0.000003417135461 0 0"/><geom name="crankB_h0" type="mesh" mesh="crankB_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h1" type="mesh" mesh="crankB_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h2" type="mesh" mesh="crankB_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h3" type="mesh" mesh="crankB_h3" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h4" type="mesh" mesh="crankB_h4" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h5" type="mesh" mesh="crankB_h5" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h6" type="mesh" mesh="crankB_h6" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="crankB_h7" type="mesh" mesh="crankB_h7" contype="16" conaffinity="8" condim="3" friction="0.1 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>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_a" kv="20" forcerange="-40 40"/></actuator>
</mujoco>
