<mujoco model="483-dry-gas-meter">
<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="crank" pos="0 0 0.3"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0.0002612427603 0.007542448172 0.0000124404959" mass="2" fullinertia="0.001507703395 0.002798740323 0.001507579967 0.000008444463159 6.499978974e-9 0.00000170540409"/></body>
<body name="plate_b" pos="0 0 0.155"><joint name="j_pb" type="slide" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.003771857577" mass="0.05" fullinertia="0.00004128321791 0.00004128321791 0.00008174932699 0 0 0"/><body name="rod_b" pos="0 0 0.015"><joint name="j_rb" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 -0.012 0.0525" mass="0.02" fullinertia="0.000018455 0.000018455 1.6e-7 0 0 0"/></body>
</body>
<body name="plate_a" pos="0 0 0.42"><joint name="j_pa" type="slide" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 0.003771857577" mass="0.05" fullinertia="0.00004128321791 0.00004128321791 0.00008174932699 0 0 0"/><body name="rod_a" pos="0 0 -0.015"><joint name="j_ra" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0.0125 -0.012 -0.0525" mass="0.02" fullinertia="0.00001845929185 0.00001949666667 0.000001197374821 0 0.000004356974249 0"/></body>
</body>
<body name="valve_a" pos="-0.16 0 0.3"><joint name="j_va" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0.00159254868 0.0128974663 -0.003285618447" mass="0.02" fullinertia="0.000001499611052 0.000005379656719 0.000006141518968 5.382007529e-7 -1.046501464e-7 7.245010135e-8"/><body name="vrod_a" pos="0.026 0 0"><joint name="j_qa" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0.0745 -0.022 0" mass="0.01" fullinertia="4.5e-8 0.00001852333333 0.00001852333333 0 0 0"/></body>
</body>
<body name="valve_b" pos="0.16 0 0.315"><joint name="j_vb" type="slide" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="-0.00159254868 0.0128974663 -0.003285618447" mass="0.02" fullinertia="0.000001499611052 0.000005379656719 0.000006141518968 -5.382007529e-7 1.046501464e-7 7.245010135e-8"/><body name="vrod_b" pos="-0.026 0 0"><joint name="j_qb" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="-0.067 -0.022 0" mass="0.01" fullinertia="4.5e-8 0.00001498583333 0.00001498583333 0 0 0"/></body>
</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_a" body1="crank" body2="rod_a" anchor="0.025 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_b" body1="crank" body2="rod_b" anchor="0 0 -0.025" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_va" body1="crank" body2="vrod_a" anchor="0.015 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_vb" body1="crank" body2="vrod_b" anchor="0 0 0.015" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="crank" body2="rod_a"/><exclude body1="crank" body2="rod_b"/><exclude body1="crank" body2="vrod_a"/><exclude body1="crank" body2="vrod_b"/></contact>
<actuator><motor name="drive" joint="j_c" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
