<mujoco model="466-hydrostatic-press">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="ram_h0" vertex="-0.055 0.01 0.22 0.055 0.01 0.22 0.055 0.05 0.22 -0.055 0.05 0.22 -0.055 0.01 0.145 0.055 0.01 0.145 0.055 0.05 0.145 -0.055 0.05 0.145"/><mesh name="follower_h0" vertex="-0.075 0.005 0.012 0.075 0.005 0.012 0.075 0.055 0.012 -0.075 0.055 0.012 -0.075 0.005 0 0.075 0.005 0 0.075 0.055 0 -0.075 0.055 0"/></asset>
<size memory="64M"/>
<worldbody>
<body name="lever" pos="0.17 0 0.21"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.1109701493 0 0" mass="0.3" fullinertia="0.000004119867822 0.001826010413 0.001826041984 0 0 0"/></body>
<body name="plunger" pos="0.22 0 0.08"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.045 0.032" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.0184343373" mass="0.08" fullinertia="0.00001099091803 0.00001095833017 0.000003413064727 0 0 0"/><body name="prod" pos="0 0 0.038"><joint name="j_pr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0.05344939271" mass="0.02" fullinertia="0.00001764341706 0.00001762938198 1.153711201e-7 0 0 0"/></body>
</body>
<body name="ram" pos="0 0 0.04"><joint name="j_r" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.015 0.09" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01737055809 0.1268812986" mass="2" fullinertia="0.008370875403 0.009163826243 0.002379616134 0 0 -0.001563052533"/><geom name="ram_h0" type="mesh" mesh="ram_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="follower" pos="0 0 0.27"><joint name="j_f" type="slide" axis="0 0 1" damping="2" frictionloss="0" range="0 0.073" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="1500" springref="-0.02"/><inertial pos="0 0.03 0.01672597489" mass="0.3" fullinertia="0.0003096981179 0.0008985704813 0.0006951842675 0 0 0"/><geom name="follower_h0" type="mesh" mesh="follower_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="vin" pos="0.246 0 0.026"><joint name="j_vi" 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 -0.009747282219" mass="0.006" fullinertia="9.535675269e-7 2.958996508e-7 6.729526881e-7 0 0 0"/></body>
<body name="vout" pos="0.186 0 0.026"><joint name="j_vo" 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 -0.009747282219" mass="0.006" fullinertia="9.535675269e-7 2.958996508e-7 6.729526881e-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="lever" body2="prod" anchor="0.05 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lever" body2="prod"/></contact>
<actuator><velocity name="drive" joint="j_l" kv="3000" forcerange="-40 40"/></actuator>
</mujoco>
