<mujoco model="453-double-lantern-bellows-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="lever" pos="0 0 0.28"><joint name="j_lv" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.5 0.5" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.03548021901 -0.006 0" mass="0.3" fullinertia="0.000007115740889 0.002961538494 0.002956284448 0 0 0"/></body>
<body name="hoopL1" pos="-0.11 0 0.072"><joint name="j_hoopL1" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="hoopL2" pos="0 0 0.02"><joint name="j_hoopL2" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="hoopL3" pos="0 0 0.02"><joint name="j_hoopL3" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="plateL" pos="0 0 0.02"><joint name="j_plateL" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.01633518006 0.004354570637" mass="0.04" fullinertia="0.000007481520758 0.00004623216417 0.00005307015068 0 0 2.03313357e-7"/><body name="lfL3b" pos="-0.055 0 0"><joint name="j_lfL3b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfL3d" pos="0.055 0 0"><joint name="j_lfL3d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="rodL" pos="0 0 0.016"><joint name="j_rodL" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.006 0.066" mass="0.02" fullinertia="0.000029085 0.000029085 9e-8 0 0 0"/></body>
</body>
<body name="lfL2b" pos="-0.055 0 0"><joint name="j_lfL2b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfL2d" pos="0.055 0 0"><joint name="j_lfL2d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfL3a" pos="-0.055 0 0"><joint name="j_lfL3a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfL3c" pos="0.055 0 0"><joint name="j_lfL3c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfL1b" pos="-0.055 0 0"><joint name="j_lfL1b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfL1d" pos="0.055 0 0"><joint name="j_lfL1d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfL2a" pos="-0.055 0 0"><joint name="j_lfL2a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfL2c" pos="0.055 0 0"><joint name="j_lfL2c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfL0b" pos="-0.055 0 0"><joint name="j_lfL0b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfL0d" pos="0.055 0 0"><joint name="j_lfL0d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfL1a" pos="-0.055 0 0"><joint name="j_lfL1a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfL1c" pos="0.055 0 0"><joint name="j_lfL1c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfL0a" pos="-0.165 0 0.052"><joint name="j_lfL0a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfL0c" pos="-0.055 0 0.052"><joint name="j_lfL0c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
<body name="hoopR1" pos="0.085 0 0.072"><joint name="j_hoopR1" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="hoopR2" pos="0 0 0.02"><joint name="j_hoopR2" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="hoopR3" pos="0 0 0.02"><joint name="j_hoopR3" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.017 0" mass="0.005" fullinertia="8.854166667e-7 0.00001542 0.00001629791667 0 0 0"/><body name="plateR" pos="0 0 0.02"><joint name="j_plateR" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.0155 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="500" springref="0"/><inertial pos="0 0.01633518006 0.004354570637" mass="0.04" fullinertia="0.000007481520758 0.00004623216417 0.00005307015068 0 0 2.03313357e-7"/><body name="lfR3b" pos="-0.055 0 0"><joint name="j_lfR3b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfR3d" pos="0.055 0 0"><joint name="j_lfR3d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="rodR" pos="0 0 0.016"><joint name="j_rodR" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.006 0.066" mass="0.02" fullinertia="0.000029085 0.000029085 9e-8 0 0 0"/></body>
</body>
<body name="lfR2b" pos="-0.055 0 0"><joint name="j_lfR2b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfR2d" pos="0.055 0 0"><joint name="j_lfR2d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfR3a" pos="-0.055 0 0"><joint name="j_lfR3a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfR3c" pos="0.055 0 0"><joint name="j_lfR3c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfR1b" pos="-0.055 0 0"><joint name="j_lfR1b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfR1d" pos="0.055 0 0"><joint name="j_lfR1d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfR2a" pos="-0.055 0 0"><joint name="j_lfR2a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfR2c" pos="0.055 0 0"><joint name="j_lfR2c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfR0b" pos="-0.055 0 0"><joint name="j_lfR0b" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 -0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 1.021099085e-8 0"/></body>
<body name="lfR0d" pos="0.055 0 0"><joint name="j_lfR0d" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 -0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 -1.021113401e-8 0"/></body>
<body name="lfR1a" pos="-0.055 0 0"><joint name="j_lfR1a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfR1c" pos="0.055 0 0"><joint name="j_lfR1c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
</body>
<body name="lfR0a" pos="0.03 0 0.052"><joint name="j_lfR0a" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.006244448828 0.015 0.004999770323" mass="0.001" fullinertia="1.289126269e-7 2.173592775e-8 1.334899675e-7 0 -1.021099085e-8 0"/></body>
<body name="lfR0c" pos="0.14 0 0.052"><joint name="j_lfR0c" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.006245051253 0.015 0.005000229742" mass="0.001" fullinertia="1.289126269e-7 2.173569859e-8 1.334897383e-7 0 1.021113401e-8 0"/></body>
<body name="svL" pos="-0.095 0 0"><joint name="j_svL" 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 0.003036852723" mass="0.006" fullinertia="3.576231599e-7 3.576231599e-7 6.57654196e-7 0 0 0"/></body>
<body name="svR" pos="0.08 0 0"><joint name="j_svR" 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 0.003036852723" mass="0.006" fullinertia="3.576231599e-7 3.576231599e-7 6.57654196e-7 0 0 0"/></body>
<body name="dvL" pos="-0.0185 0 0.042"><joint name="j_dvL" 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="0.001414495747 0.01155700284 -0.01414495747" mass="0.004" fullinertia="6.142904604e-7 3.434464364e-7 2.948128976e-7 3.225210743e-10 4.837816114e-9 -3.225210743e-9"/></body>
<body name="dvR" pos="0.0185 0 0.042"><joint name="j_dvR" 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="-0.001414495747 0.01155700284 -0.01414495747" mass="0.004" fullinertia="6.142904604e-7 3.434464364e-7 2.948128976e-7 -3.225210743e-10 -4.837816114e-9 -3.225210743e-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><connect name="p_lfL0a" body1="lfL0a" body2="lfL0b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL0c" body1="lfL0c" body2="lfL0d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL1a" body1="lfL1a" body2="lfL1b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL1c" body1="lfL1c" body2="lfL1d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL2a" body1="lfL2a" body2="lfL2b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL2c" body1="lfL2c" body2="lfL2d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL3a" body1="lfL3a" body2="lfL3b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfL3c" body1="lfL3c" body2="lfL3d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rodL" body1="lever" body2="rodL" anchor="-0.11 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR0a" body1="lfR0a" body2="lfR0b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR0c" body1="lfR0c" body2="lfR0d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR1a" body1="lfR1a" body2="lfR1b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR1c" body1="lfR1c" body2="lfR1d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR2a" body1="lfR2a" body2="lfR2b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR2c" body1="lfR2c" body2="lfR2d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR3a" body1="lfR3a" body2="lfR3b" anchor="0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_lfR3c" body1="lfR3c" body2="lfR3d" anchor="-0.01249 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_rodR" body1="lever" body2="rodR" anchor="0.085 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lfL0a" body2="lfL0b"/><exclude body1="lfL0c" body2="lfL0d"/><exclude body1="lfL1a" body2="lfL1b"/><exclude body1="lfL1c" body2="lfL1d"/><exclude body1="lfL2a" body2="lfL2b"/><exclude body1="lfL2c" body2="lfL2d"/><exclude body1="lfL3a" body2="lfL3b"/><exclude body1="lfL3c" body2="lfL3d"/><exclude body1="lever" body2="rodL"/><exclude body1="lfR0a" body2="lfR0b"/><exclude body1="lfR0c" body2="lfR0d"/><exclude body1="lfR1a" body2="lfR1b"/><exclude body1="lfR1c" body2="lfR1d"/><exclude body1="lfR2a" body2="lfR2b"/><exclude body1="lfR2c" body2="lfR2d"/><exclude body1="lfR3a" body2="lfR3b"/><exclude body1="lfR3c" body2="lfR3d"/><exclude body1="lever" body2="rodR"/></contact>
<actuator><velocity name="drive" joint="j_lv" kv="3000" forcerange="-80 80"/></actuator>
</mujoco>
