<mujoco model="454-diaphragm-forcing-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="handle" pos="-0.11 0 0.215"><joint name="j_h" 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="0.001905530734 -0.009 -0.006610349967" mass="0.2" fullinertia="0.0001689930978 0.001037512848 0.0008719067616 0 -0.0003488921617 0"/></body>
<body name="plate" pos="0 0 0.055"><joint name="j_p" type="slide" axis="0 0 1" damping="0.05" frictionloss="0" range="-0.045 0.026" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.001683202499" mass="0.05" fullinertia="0.00000283042365 0.00000283042365 0.000004656377865 0 0 0"/><body name="rod" pos="0 0 0.006"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.009 0.082" mass="0.02" fullinertia="0.00004487166667 0.00004487166667 9e-8 0 0 0"/></body>
<body name="dfli" pos="-0.015 0 0.003"><joint name="j_dfli" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.01793700685 0.015 -0.001492166804" mass="0.001" fullinertia="1.218203626e-7 1.087494349e-7 2.27595739e-7 0 -8.860877084e-9 0"/></body>
<body name="dfri" pos="0.015 0 0.003"><joint name="j_dfri" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.01793700685 0.015 -0.001492166804" mass="0.001" fullinertia="1.218203626e-7 1.087494349e-7 2.27595739e-7 0 8.860877084e-9 0"/></body>
</body>
<body name="dflo" pos="-0.052 0 0.096"><joint name="j_dflo" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="0.0005617761311 0.015 -0.02049341953" mass="0.001" fullinertia="2.603113359e-7 1.408324404e-7 1.211877712e-7 0 3.816559074e-9 0"/></body>
<body name="dfro" pos="0.052 0 0.096"><joint name="j_dfro" type="hinge" axis="0 1 0" damping="0.00005" frictionloss="0"/><inertial pos="-0.0005617761311 0.015 -0.02049341953" mass="0.001" fullinertia="2.603113359e-7 1.408324404e-7 1.211877712e-7 0 -3.816559074e-9 0"/></body>
<body name="sv" pos="0.01 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 0.003036852723" mass="0.006" fullinertia="3.576231599e-7 3.576231599e-7 6.57654196e-7 0 0 0"/></body>
<body name="clack" pos="0.137 0 0.102"><joint name="j_cv" 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="0.01989601775 0.01153730191 0" mass="0.006" fullinertia="4.352805995e-7 0.000001055304334 0.000001474883349 4.452957108e-9 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="rod" anchor="0.11 0 0.01" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_dfl" body1="dflo" body2="dfli" anchor="0.001124 0 -0.040985" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_dfr" body1="dfro" body2="dfri" anchor="-0.001124 0 -0.040985" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="handle" body2="rod"/><exclude body1="dflo" body2="dfli"/><exclude body1="dfro" body2="dfri"/></contact>
<actuator><velocity name="drive" joint="j_h" kv="3000" forcerange="-60 60"/></actuator>
</mujoco>
