<mujoco model="231-drag-link-motion">
<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="crank_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.01861439017 0.01242545313" mass="0.8" fullinertia="0.001252792 0.0003742501826 0.0008926759014 0 0 0.0002942064844"/><body name="link" pos="0 0 0.06"><joint name="j_link" type="hinge" axis="0 -1 0" damping="0.001" frictionloss="0"/><inertial pos="0.0299735 -0.02 -0.001259" mass="0.3" fullinertia="0.000004291918735 0.0001808252984 0.0001783531377 0 0.000007324149525 0"/></body>
</body>
<body name="crank_b" pos="0.02 0 0"><joint name="j_b" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0.008671651748 -0.05755221861 0.01247813252" mass="0.8" fullinertia="0.001216727969 0.0005086358606 0.001044325702 -0.0001974012491 -0.0002317206829 -0.0002840518746"/></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_b" body1="link" body2="crank_b" anchor="0.059947 -0.02 -0.002518" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link" body2="crank_b"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
