<mujoco model="467-robertsons-hydrostatic-jack">
<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="cylinder_h0" vertex="-0.1 0.005 -0.083 -0.035 0.005 -0.083 -0.035 0.025 -0.083 -0.1 0.025 -0.083 -0.1 0.005 -0.095 -0.035 0.005 -0.095 -0.035 0.025 -0.095 -0.1 0.025 -0.095"/><mesh name="load_h0" vertex="-0.06 -0.01 0.015 0.06 -0.01 0.015 0.06 0.04 0.015 -0.06 0.04 0.015 -0.06 -0.01 -0.0148 0.06 -0.01 -0.0148 0.06 0.04 -0.0148 -0.06 0.04 -0.0148"/></asset>
<size memory="64M"/>
<worldbody>
<body name="lever" pos="0.05 0 0.21"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.1009299484 0 0" mass="0.3" fullinertia="0.000004199215992 0.001547903811 0.001547937696 0 0 0"/></body>
<body name="plunger" pos="0.1 0 0.095"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="0" range="-0.059 0.042" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.01608212168" mass="0.08" fullinertia="0.000008230521455 0.000008183629516 0.000002184770518 0 0 0"/><body name="prod" pos="0 0 0.033"><joint name="j_pr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0.04917058589" mass="0.02" fullinertia="0.00001441862864 0.00001440135748 1.119326159e-7 0 0 0"/></body>
</body>
<body name="cylinder" pos="0 0 0.203"><joint name="j_c" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="0 0.07" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.009700413902 0.01179741862 -0.0337569287" mass="1" fullinertia="0.001588829017 0.002204067174 0.001063945583 0.00003106636499 -0.0004924342358 0.0002214195493"/><geom name="cylinder_h0" type="mesh" mesh="cylinder_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="load" pos="-0.14 0 0.135"><joint name="j_ld" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.03 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.015 0.0001" mass="3" fullinertia="0.00084701 0.00382201 0.004225 0 0 0"/><geom name="load_h0" type="mesh" mesh="load_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="0.122 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="0.07 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>
