<mujoco model="401-brownell-crank-dead-centers">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"/>
<asset><mesh name="slide_h0" vertex="0.036912 -0.013 0.021442 0.036912 -0.004 0.021442 0.033915 -0.013 0.020059 0.033915 -0.004 0.020059 0.037268 -0.013 0.012795 0.037268 -0.004 0.012795 0.040264 -0.013 0.014178 0.040264 -0.004 0.014178"/><mesh name="slide_h1" vertex="0.009945 -0.013 0.008996 0.009945 -0.004 0.008996 0.006949 -0.013 0.007613 0.006949 -0.004 0.007613 0.010301 -0.013 0.000349 0.010301 -0.004 0.000349 0.013298 -0.013 0.001732 0.013298 -0.004 0.001732"/><mesh name="slide_h2" vertex="-0.023014 -0.013 -0.006216 -0.023014 -0.004 -0.006216 -0.02601 -0.013 -0.007599 -0.02601 -0.004 -0.007599 -0.022658 -0.013 -0.014863 -0.022658 -0.004 -0.014863 -0.019661 -0.013 -0.01348 -0.019661 -0.004 -0.01348"/><mesh name="slide_h3" vertex="-0.04998 -0.013 -0.018662 -0.04998 -0.004 -0.018662 -0.052976 -0.013 -0.020045 -0.052976 -0.004 -0.020045 -0.049624 -0.013 -0.027309 -0.049624 -0.004 -0.027309 -0.046628 -0.013 -0.025926 -0.046628 -0.004 -0.025926"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 -1 0" damping="0.03" frictionloss="0.01"/><inertial pos="-0.000002186087928 0.005027873451 0.000004930145428" mass="1.884098169" fullinertia="0.005839731539 0.011628294 0.005839790672 -4.13028479e-8 -2.680552073e-9 9.314769282e-8"/><body name="pin1" pos="0.043582 0 -0.008521"><joint name="j_p1" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 -0.008 0" mass="0.002205398043" fullinertia="2.334046262e-8 9.924291193e-9 2.334046262e-8 0 0 0"/><geom name="pin1_h0" type="capsule" fromto="0 -0.003 0 0 -0.013 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="pin2" pos="-0.016343 0 -0.036179"><joint name="j_p2" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 -0.008 0" mass="0.002205398043" fullinertia="2.334046262e-8 9.924291193e-9 2.334046262e-8 0 0 0"/><geom name="pin2_h0" type="capsule" fromto="0 -0.003 0 0 -0.013 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="slide" pos="0.010896 0 -0.023607"><joint name="j_s" type="slide" axis="0.908 0 0.4191" damping="0.05" frictionloss="0" range="-0.006 0.026" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="400" springref="-0.01"/><inertial pos="-0.006687649038 -0.007695743854 -0.003086407251" mass="0.09231211268" fullinertia="0.00001562455897 0.00008177669202 0.00006711486009 -5.516613153e-8 -0.00003019741765 -2.547320931e-8"/><geom name="slide_h0" type="mesh" mesh="slide_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slide_h1" type="mesh" mesh="slide_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slide_h2" type="mesh" mesh="slide_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="slide_h3" type="mesh" mesh="slide_h3" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="conrod" pos="-0.010896 0 -0.005029"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0"/><inertial pos="0 -0.019 -0.1" mass="0.1" fullinertia="0.0004980325377 0.0004982603015 7.146984925e-7 0 0 0"/></body>
</body>
</body>
<body name="treadle" pos="0.068235 0 -0.2"><joint name="j_t" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.04028605936 -0.01186389651 0.01690652903" mass="0.3" fullinertia="0.0001401010029 0.0008593554393 0.0007289170154 0.000009731454214 -0.0002999245755 0.000004083905734"/></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="conrod" body2="treadle" anchor="0 -0.019 -0.2" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="conrod" body2="treadle"/></contact>
<actuator><motor name="foot1" joint="j_t" gear="1" ctrlrange="0 10.5"/></actuator>
</mujoco>
