<mujoco model="230-two-cranks-at-right-angles">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="upper" pos="0 0 0"><joint name="j_u" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.001328356209 0.03663981938 0.0001522553388" mass="1.5" fullinertia="0.003561762624 0.001433374193 0.003604209708 0.0001937000712 3.03373987e-7 -0.000007162132388"/><body name="rod_a" pos="0.03 0 0"><joint name="j_ra" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.0665 -0.1" mass="0.3" fullinertia="0.001359220426 0.00136079319 0.000002949582895 0 0 0"/></body>
<body name="rod_b" pos="0 0 0.03"><joint name="j_rb" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0.0695 -0.1" mass="0.3" fullinertia="0.001359220426 0.00136079319 0.000002949582895 0 0 0"/></body>
</body>
<body name="lower" pos="0 0 -0.2"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.001328356209 0.03663981938 0.0001522553388" mass="1.5" fullinertia="0.003561762624 0.001433374193 0.003604209708 0.0001937000712 3.03373987e-7 -0.000007162132388"/></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_a" body1="rod_a" body2="lower" anchor="0 -0.0665 -0.2" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b" body1="rod_b" body2="lower" anchor="0 0.0695 -0.2" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod_a" body2="lower"/><exclude body1="rod_b" body2="lower"/></contact>
<actuator><velocity name="drive" joint="j_u" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
