<mujoco model="448-common-lift-pump">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="link" pos="0.059 0 0.31"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.01642255186 -0.01141936824 0.02761081627" mass="0.03" fullinertia="0.00000884098409 0.00001021312263 0.000001905671798 -1.494101639e-7 -0.00000347861321 -4.248340389e-7"/><body name="handle" pos="0.025 0 0.052"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.03412612458 0 -0.04500113796" mass="0.15" fullinertia="0.0008086447866 0.001612497106 0.0008061429112 0 0.0007868449342 0"/></body>
</body>
<body name="piston" pos="0 0 0.115"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.08 0.053" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01114350059 0.0428893576" mass="0.08" fullinertia="0.0002765475188 0.0002865789328 0.00002125398174 0 0 0.00001771749128"/><body name="bvalve" pos="0 0 0.045"><joint name="j_bv" type="slide" axis="0 0 1" damping="0.0005" frictionloss="0" range="0 0.009" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.001708476034" mass="0.004" fullinertia="1.642544642e-7 1.642544642e-7 3.14517585e-7 0 0 0"/></body>
</body>
<body name="fvalve" pos="0 0 0.025"><joint name="j_fv" type="slide" axis="0 0 1" damping="0.0005" frictionloss="0" range="0 0.009" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.001648685771" mass="0.004" fullinertia="2.324336013e-7 2.324336013e-7 4.530966314e-7 0 0 0"/></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_R" body1="handle" body2="piston" anchor="-0.084 0 0.033" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="handle" body2="piston"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="30" forcerange="-40 40"/></actuator>
</mujoco>
