<mujoco model="477-steam-trap">
<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="cock" pos="-0.012 0 0.19"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.02031088083 -0.006740932642 0" mass="0.2" fullinertia="0.0000037661105 0.0001109255756 0.0001103637069 -0.000005114553411 0 0"/></body>
<body name="valve" pos="0 0 0.04"><joint name="j_v" type="slide" axis="0 0 1" damping="4" frictionloss="0" range="0 0.004" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="1550" springref="0"/><inertial pos="-5.356359767e-9 0.009824678735 0.02090574499" mass="0.2" fullinertia="0.0002865053109 0.0003058101733 0.00004991346604 -1.052490278e-11 -1.65895709e-11 0.00004412667162"/></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></equality>

<actuator><velocity name="drive" joint="j_k" kv="5" forcerange="-2 2"/></actuator>
</mujoco>
