<mujoco model="473-air-pump-simple-construction">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="bell" pos="0 0 0.37"><joint name="j_b" type="slide" axis="0 0 1" damping="2" frictionloss="0" range="-0.065 0.07" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0004328337633 0.08398895866 -0.08907943787" mass="4" fullinertia="0.04141652346 0.06973458841 0.04407741764 0.0001315623478 -0.0002004110032 0.002414097742"/><site name="rope_b" pos="0 0 0.024" size="0.006"/></body>
<body name="lever" pos="0.3 0 0.54"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0.08418488272 -0.0001959200143 -0.0000194446079" mass="5" fullinertia="0.0005291210798 0.2144220045 0.2144409197 0.0002505965072 -0.00003735162203 1.904793929e-8"/><site name="rope_a" pos="-0.3 0 -0.011" size="0.006"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="rope_over" type="cylinder" fromto="-0.003 -0.01 0.45 -0.003 0.01 0.45" size="0.0025" contype="0" conaffinity="0" group="3" mass="0"/><site name="rope_side" pos="0.03 0 0.45" size="0.006"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="rope" limited="true" range="0 0.1350800887" width="0.003" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="rope_a"/><geom geom="rope_over" sidesite="rope_side"/><site site="rope_b"/></spatial></tendon>
<actuator><velocity name="drive" joint="j_l" kv="10000" forcerange="-200 200"/></actuator>
</mujoco>
