<mujoco model="478-another-steam-trap">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="pipe_h0" vertex="-0.0012 -0.008 -0.008 -0.0012 0.008 -0.008 0 -0.008 -0.008 0 0.008 -0.008 0 -0.008 0.008 0 0.008 0.008 -0.0012 -0.008 0.008 -0.0012 0.008 0.008"/><mesh name="lever_h0" vertex="-0.1047 -0.006 -0.061 -0.1047 0.006 -0.061 -0.1035 -0.006 -0.061 -0.1035 0.006 -0.061 -0.1035 -0.006 -0.049 -0.1035 0.006 -0.049 -0.1047 -0.006 -0.049 -0.1047 0.006 -0.049"/></asset>
<size memory="64M"/>
<worldbody>
<body name="cock" pos="-0.37 0 0.08"><joint name="j_k" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.01281152949 -0.007989356882 0.006405764747" mass="0.2" fullinertia="0.0000243982635 0.00009365980458 0.00007649020603 -0.00001027649452 0.00003472796169 0.00000513824726"/></body>
<body name="pipe" pos="0 0 0.08"><joint name="j_e" type="slide" axis="1 0 0" damping="200" frictionloss="0" range="-0.0005 0.0012" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.1992412463 0 0" mass="0.3" fullinertia="0.000009612176588 0.004034801422 0.004034801422 0 0 0"/><geom name="pipe_h0" type="mesh" mesh="pipe_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0001" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="0.105 0 0.135"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0" range="-0.05 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.03997271836 0 -0.005846867076" mass="0.08526569589" fullinertia="0.00008601956691 0.0003602593383 0.0002799721637 0 -0.00013075755 0"/><geom name="lever_h0" type="mesh" mesh="lever_h0" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0001" margin="0" group="2" mass="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></equality>

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