<mujoco model="416-treadle-crank-spring-over-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"/>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_w" type="hinge" axis="0 -1 0" damping="0.05" frictionloss="0.01"/><inertial pos="0 0.004781557353 -0.0007924713451" mass="1.791227634" fullinertia="0.003660760633 0.007151052048 0.003609471057 0 0 -0.00002111823383"/><body name="conrod" pos="0 0 -0.046"><joint name="j_r" type="hinge" axis="0 -1 0" damping="0.0002" frictionloss="0"/><inertial pos="-0.008813983503 -0.019 -0.09704272183" mass="0.1" fullinertia="0.0004147245573 0.0004182695022 0.00000401984104 0 -0.00003761286806 0"/></body>
</body>
<body name="coil" pos="-0.138 0 -0.027"><joint name="j_a" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.00002987592436 -0.024 -0.004095039639" mass="0.05" fullinertia="0.00002172524863 0.00004331013303 0.00002163141938 0 0.000002227223443 0"/><body name="wire" pos="0 0 0"><joint name="j_s" type="slide" axis="0.9907 0 -0.1364" damping="0.05" frictionloss="0" stiffness="20" springref="-0.079302"/><inertial pos="0.0681085 -0.024 -0.009377" mass="0.01" fullinertia="3.118439962e-7 0.000016593013 0.00001628436901 0 0.000002241670151 0"/></body>
</body>
<body name="treadle" pos="-0.067 0 -0.194"><joint name="j_t" type="hinge" axis="0 -1 0" damping="0.02" frictionloss="0"/><inertial pos="-0.02072588088 -0.01102753004 0.01894567608" mass="0.3" fullinertia="0.00043540533 0.0009520906279 0.0005202350253 5.795999315e-7 0.0004716260187 -5.298211772e-7"/></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_s" body1="wire" body2="wheel" anchor="0.138 -0.024 -0.019" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_b" body1="conrod" body2="treadle" anchor="-0.017548 -0.019 -0.193205" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="wire" body2="wheel"/><exclude body1="conrod" body2="treadle"/></contact>
<actuator><motor name="foot1" joint="j_t" gear="1" ctrlrange="0 10.5"/></actuator>
</mujoco>
