<mujoco model="449-modern-lifting-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="rod" pos="0 0 0.137"><joint name="j_r" type="slide" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 0.05637065376" mass="0.03" fullinertia="0.00006016842003 0.00006011541365 2.377862851e-7 0 0 0"/></body>
<body name="piston" pos="0 0 0.077"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.053 0.052" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01286950601 0.01688771024" mass="0.08" fullinertia="0.00001587255822 0.00002977920362 0.00002460827147 0 0 0.000001943511866"/><body name="bvalve" pos="0 0 0.03"><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 0.002957144818" mass="0.004" fullinertia="1.401077848e-7 1.401077848e-7 2.399591493e-7 0 0 0"/></body>
</body>
<body name="fflap" pos="-0.018 0 0.0115"><joint name="j_ff" type="hinge" axis="0 -1 0" damping="0.00002" frictionloss="0" range="0 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0170795277 0 0.0006790580378" mass="0.004" fullinertia="2.652565201e-7 3.239822776e-7 5.658280915e-7 0 -2.500216458e-9 0"/></body>
<body name="oflap" pos="0.044 0 0.2362"><joint name="j_fo" type="hinge" axis="0 -1 0" damping="0.00002" frictionloss="0" range="0 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0138536073 0 0.000046178691" mass="0.004" fullinertia="2.09697106e-7 2.684782468e-7 4.738304753e-7 0 -2.117556569e-10 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_K" body1="rod" body2="piston" anchor="0 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="piston"/></contact>
<actuator><velocity name="drive" joint="j_r" kv="3000" forcerange="-300 300"/></actuator>
</mujoco>
