<mujoco model="268-crank-and-oscillating-rod">
<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>
<asset><mesh name="rod_h0" vertex="0.00911 -0.0025 -0.003742 0.00911 0.0055 -0.003742 -0.319756 -0.0025 -0.013123 -0.319756 0.0055 -0.013123 -0.319984 -0.0025 -0.005126 -0.319984 0.0055 -0.005126 0.008882 -0.0025 0.004255 0.008882 0.0055 0.004255"/><mesh name="roller_h0" vertex="0.02 -0.0045 0 0.02 0.0075 0 0.0193185165 -0.0045 0.0051763809 0.0193185165 0.0075 0.0051763809 0.0173205081 -0.0045 0.01 0.0173205081 0.0075 0.01 0.0141421356 -0.0045 0.0141421356 0.0141421356 0.0075 0.0141421356 0.01 -0.0045 0.0173205081 0.01 0.0075 0.0173205081 0.0051763809 -0.0045 0.0193185165 0.0051763809 0.0075 0.0193185165 1.2246468e-18 -0.0045 0.02 1.2246468e-18 0.0075 0.02 -0.0051763809 -0.0045 0.0193185165 -0.0051763809 0.0075 0.0193185165 -0.01 -0.0045 0.0173205081 -0.01 0.0075 0.0173205081 -0.0141421356 -0.0045 0.0141421356 -0.0141421356 0.0075 0.0141421356 -0.0173205081 -0.0045 0.01 -0.0173205081 0.0075 0.01 -0.0193185165 -0.0045 0.0051763809 -0.0193185165 0.0075 0.0051763809 -0.02 -0.0045 2.4492936e-18 -0.02 0.0075 2.4492936e-18 -0.0193185165 -0.0045 -0.0051763809 -0.0193185165 0.0075 -0.0051763809 -0.0173205081 -0.0045 -0.01 -0.0173205081 0.0075 -0.01 -0.0141421356 -0.0045 -0.0141421356 -0.0141421356 0.0075 -0.0141421356 -0.01 -0.0045 -0.0173205081 -0.01 0.0075 -0.0173205081 -0.0051763809 -0.0045 -0.0193185165 -0.0051763809 0.0075 -0.0193185165 -3.6739404e-18 -0.0045 -0.02 -3.6739404e-18 0.0075 -0.02 0.0051763809 -0.0045 -0.0193185165 0.0051763809 0.0075 -0.0193185165 0.01 -0.0045 -0.0173205081 0.01 0.0075 -0.0173205081 0.0141421356 -0.0045 -0.0141421356 0.0141421356 0.0075 -0.0141421356 0.0173205081 -0.0045 -0.01 0.0173205081 0.0075 -0.01 0.0193185165 -0.0045 -0.0051763809 0.0193185165 0.0075 -0.0051763809"/></asset>
<size memory="64M"/>
<worldbody>
<body name="crank" pos="0 0 0"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.0003692534942 0.01695003173 0" mass="0.1919413116" fullinertia="0.0001659618308 0.0003313326249 0.0001673531599 4.217084988e-7 0 0"/><body name="rod" pos="0.03 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="-0.1512894024 0.001526683464 -0.004315685521" mass="0.05841155649" fullinertia="0.000001088480319 0.0005498126175 0.0005493920509 -2.358030901e-7 -0.00001565328985 -6.726525227e-9"/><geom name="rod_h0" type="mesh" mesh="rod_h0" contype="8" conaffinity="16" condim="3" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="roller" pos="-0.18 0 -0.03"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0"/><inertial pos="0 0.001493541012 0.00001188453736" mass="0.04075716079" fullinertia="0.000004567886862 0.000008149186179 0.000004561749276 0 0 3.024246396e-9"/><geom name="roller_h0" type="mesh" mesh="roller_h0" contype="16" conaffinity="8" condim="3" friction="0.5 0.005 0.0001" solref="0.001 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="20" forcerange="-6 6"/></actuator>
</mujoco>
