<mujoco model="398-grooved-cam-intermittent-crank">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
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name="cam_h468" type="capsule" fromto="0.079704 0 -0.018522 0.081853 0 -0.017107" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h469" type="capsule" fromto="0.081853 0 -0.017107 0.08375 0 -0.015701" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h470" type="capsule" fromto="0.08375 0 -0.015701 0.085341 0 -0.01433" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h471" type="capsule" fromto="0.085341 0 -0.01433 0.086588 0 -0.013035" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h472" type="capsule" fromto="0.086588 0 -0.013035 0.087481 0 -0.011867" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h473" type="capsule" fromto="0.087481 0 -0.011867 0.088052 0 -0.010866" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h474" type="capsule" fromto="0.088052 0 -0.010866 0.08837 0 -0.010032" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h475" type="capsule" fromto="0.08837 0 -0.010032 0.088562 0 -0.008902" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h476" type="capsule" fromto="0.088562 0 -0.008902 0.088726 0 -0.006983" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h477" type="capsule" fromto="0.088726 0 -0.006983 0.088878 0 -0.004658" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h478" type="capsule" fromto="0.088878 0 -0.004658 0.08897 0 -0.00233" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><geom name="cam_h479" type="capsule" fromto="0.08897 0 -0.00233 0.089 0 0" size="0.004" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/></body>
<body name="slide" pos="0.1 0 0"><joint name="j_s" type="slide" axis="1 0 0" damping="0.05" frictionloss="0" range="-0.026 0.026" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.06607057929 -0.01698129144 0" mass="0.3156418304" fullinertia="0.00005348526214 0.0004489271528 0.0004104718377 0.00002124479885 0 0"/><geom name="slide_h0" type="capsule" fromto="0 -0.018 0 0 0.009 0" size="0.006" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.001" margin="0" group="2" mass="0"/><body name="rod" pos="0.12 0 0"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.0995005 -0.028 0.0099875" mass="0.1349218459" fullinertia="0.000009021128723 0.0006900494963 0.0006824137771 0 -0.00006828067267 0"/></body>
</body>
<body name="wheel" pos="0.42 0 0"><joint name="j_w" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.00001524628531 0.007685792566 0.0003048493984" mass="1.201010711" fullinertia="0.004516395866 0.008905975439 0.004511792043 -5.594381087e-7 2.308261251e-7 0.00001118596218"/></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="p_crank" body1="rod" body2="wheel" anchor="0.199001 0 0.019975" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="wheel"/></contact>
<actuator><velocity name="drive" joint="j_c" kv="20" forcerange="-80 80"/></actuator>
</mujoco>
