Crank-slider mechasnism to MJCF

[55155]

Intro

Hi!

I am a graduate student at Korea University, I use MuJoCo for my research on autonomous lab.

My setup

I am using MuJoCo version 3.3.5 and working with the C language-based API. The operating system version is Ubuntu 22.04.

My question

The above gif file is the result of a simulation in Fusion 360.

How can I create a crank-slider mechanism in an MJCF file? I keep encountering a closed kinematic chain.

Since the slider part is a passive joint, I did not define it as a separate joint.

Minimal model and/or code that explain my question

https://github.com/55155/genesis_simulator_linux/blob/master/My_asset/Crank_slider_system_V1_description/urdf/Crank_slider_system_V1.xml

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.