<mujoco model="451-force-pump-with-air-chamber">
<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="handle" pos="-0.06 0 0.305"><joint name="j_h" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.1300301533 0 -0.06381385605" mass="0.15" fullinertia="0.0007929237923 0.001844237257 0.001053661983 0 0.0008245294431 0"/></body>
<body name="piston" pos="0 0 0.145"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.022 0.037" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.01763134079" mass="0.1" fullinertia="0.00002911697428 0.00002911008907 0.00004246966259 0 0 0"/><body name="rod" pos="0 0 0.039"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.001149592105 0 0.06667634209" mass="0.02" fullinertia="0.00002772652697 0.00002772849216 1.560041907e-7 0 4.754951892e-7 0"/></body>
</body>
<body name="spoppet" pos="0 0 0"><joint name="j_sv" 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 0.003045116268" mass="0.006" fullinertia="3.549002631e-7 3.549002631e-7 6.521003438e-7 0 0 0"/></body>
<body name="oflap" pos="-0.1705 0 0.1215"><joint name="j_of" type="hinge" axis="0 -1 0" damping="0.00002" frictionloss="0" range="0 0.7" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.02218807891 0 0.0007742513843" mass="0.006" fullinertia="6.390457705e-7 7.416286429e-7 0.000001338666195 0 -3.771786173e-9 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="rod" anchor="0.058 0 -0.005" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="handle" body2="rod"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="3000" forcerange="-40 40"/></actuator>
</mujoco>
