<mujoco model="450-ordinary-force-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 0.179"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.01150721464 0.02995671219" mass="0.03" fullinertia="0.00000887471274 0.000008741485591 3.572116245e-7 0 0 -3.554454105e-7"/><body name="handle" pos="0 0 0.054"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.1270835544 0 -0.03437066404" mass="0.15" fullinertia="0.0004403566117 0.001481115758 0.001042872708 0 0.0005875499483 0"/></body>
</body>
<body name="piston" pos="0 0 0.08"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.045 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.02073604597" mass="0.1" fullinertia="0.00006735723255 0.00006735672885 0.00004100676033 0 0 0"/></body>
<body name="sflap" pos="-0.02 0 0.0015"><joint name="j_sf" 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="0.01884003648 0 0" mass="0.004" fullinertia="3.765692934e-7 4.579525033e-7 8.284058004e-7 0 0 0"/></body>
<body name="ovalve" pos="-0.105 0 0.042"><joint name="j_ov" 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 0.003358620066" mass="0.004" fullinertia="1.669875095e-7 1.669875095e-7 2.841180226e-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="0.056 0 0.01" 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="3000" forcerange="-40 40"/></actuator>
</mujoco>
