<mujoco model="465-balance-pumps">
<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="beam" pos="0 0 0.28"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.5" fullinertia="0.00002741353584 0.007210552791 0.007225506495 0 0 0"/></body>
<body name="plungerL" pos="-0.08 0 0.09"><joint name="j_pL" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.054 0.034" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.01865706432" mass="0.12" fullinertia="0.00003257659787 0.00003256341023 0.00003494432126 0 0 0"/><body name="rodL" pos="0 0 0.044"><joint name="j_rL" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0.08173197145" mass="0.03" fullinertia="0.00006389337229 0.0000638684772 2.229990155e-7 0 0 0"/></body>
</body>
<body name="iL" pos="-0.049 0 0.028"><joint name="j_iL" 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 0.02 -0.01172494254" mass="0.006" fullinertia="0.000001057933398 4.027170587e-7 6.706003888e-7 0 0 0"/></body>
<body name="oL" pos="-0.119 0 0.028"><joint name="j_oL" 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 0.02 -0.01172494254" mass="0.006" fullinertia="0.000001057933398 4.027170587e-7 6.706003888e-7 0 0 0"/></body>
<body name="plungerR" pos="0.08 0 0.09"><joint name="j_pR" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.054 0.034" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.01865706432" mass="0.12" fullinertia="0.00003257659787 0.00003256341023 0.00003494432126 0 0 0"/><body name="rodR" pos="0 0 0.044"><joint name="j_rR" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0.08173197145" mass="0.03" fullinertia="0.00006389337229 0.0000638684772 2.229990155e-7 0 0 0"/></body>
</body>
<body name="iR" pos="0.049 0 0.028"><joint name="j_iR" 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 0.02 -0.01172494254" mass="0.006" fullinertia="0.000001057933398 4.027170587e-7 6.706003888e-7 0 0 0"/></body>
<body name="oR" pos="0.119 0 0.028"><joint name="j_oR" 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 0.02 -0.01172494254" mass="0.006" fullinertia="0.000001057933398 4.027170587e-7 6.706003888e-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_L" body1="beam" body2="rodL" anchor="-0.08 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_R" body1="beam" body2="rodR" anchor="0.08 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="beam" body2="rodL"/><exclude body1="beam" body2="rodR"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="3000" forcerange="-40 40"/></actuator>
</mujoco>
