<mujoco model="150-valve-motion-expansive-steam">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<size memory="64M"/>
<worldbody>
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<contact><exclude body1="link" body2="valve_rod"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="100" forcerange="-100 100"/></actuator>
</mujoco>
