<mujoco model="452-double-acting-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="piston" pos="0 0 0.14"><joint name="j_p" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.1 0.1" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.03239367276" mass="0.4" fullinertia="0.0008530783965 0.0008530783965 0.0005775158141 0 0 0"/></body>
<body name="v1" pos="0.066 0 0.335"><joint name="j_1" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" range="0 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0009278851403 0.01157211486 -0.01299039196" mass="0.004" fullinertia="5.786673702e-7 3.034154708e-7 2.917192705e-7 -2.676572268e-10 -3.747201175e-9 -3.747201175e-9"/></body>
<body name="v2" pos="0.066 0 0.027"><joint name="j_2" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" range="0 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0009278851403 0.01157211486 -0.01299039196" mass="0.004" fullinertia="5.786673702e-7 3.034154708e-7 2.917192705e-7 -2.676572268e-10 -3.747201175e-9 -3.747201175e-9"/></body>
<body name="v3" pos="-0.074 0 0.027"><joint name="j_3" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" range="0 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0009278851403 0.01157211486 -0.01299039196" mass="0.004" fullinertia="5.786673702e-7 3.034154708e-7 2.917192705e-7 -2.676572268e-10 -3.747201175e-9 -3.747201175e-9"/></body>
<body name="v4" pos="-0.074 0 0.335"><joint name="j_4" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0" range="0 0.9" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0009278851403 0.01157211486 -0.01299039196" mass="0.004" fullinertia="5.786673702e-7 3.034154708e-7 2.917192705e-7 -2.676572268e-10 -3.747201175e-9 -3.747201175e-9"/></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></equality>

<actuator><velocity name="drive" joint="j_p" kv="30000" forcerange="-600 600"/></actuator>
</mujoco>
