<mujoco model="500-magdeburg-pressure-gauge">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="disk" pos="0 0 0.12"><joint name="j_d" type="slide" axis="0 0 1" damping="20" frictionloss="0" range="-0.012 0.012" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="10000" springref="-0.010053"/><inertial pos="0.0002862579327 -0.0003053417948 0.001943165072" mass="0.02" fullinertia="0.000009691940033 0.000009680333838 0.0000193311221 8.985440823e-8 -1.89369797e-8 2.019429824e-8"/><body name="rod" pos="0.015 0 0.003"><joint name="j_r" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="0 -0.01804549201 0.04896571617" mass="0.002" fullinertia="0.000002865433103 0.000002835021295 3.416237268e-8 0 0 4.900789924e-8"/></body>
</body>
<body name="sector" pos="0 0 0.225"><joint name="j_s" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0.0003502402489 -0.012 0.03050552073" mass="0.004" fullinertia="0.000001138398118 0.000002087391366 9.74484239e-7 0 4.273704469e-8 0"/><geom name="sector_h0" type="mesh" mesh="sector_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h1" type="mesh" mesh="sector_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h2" type="mesh" mesh="sector_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h3" type="mesh" mesh="sector_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h4" type="mesh" mesh="sector_h4" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h5" type="mesh" mesh="sector_h5" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h6" type="mesh" mesh="sector_h6" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h7" type="mesh" mesh="sector_h7" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h8" type="mesh" mesh="sector_h8" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h9" type="mesh" mesh="sector_h9" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="sector_h10" type="mesh" mesh="sector_h10" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="pinion" pos="0 0 0.3"><joint name="j_ptr" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0" stiffness="0.0003" springref="-3"/><inertial pos="0 -0.01675459596 0.004846292105" mass="0.003" fullinertia="0.000001267774959 0.000001194493272 2.71150075e-7 0 0 1.92573291e-7"/><geom name="pinion_h0" type="mesh" mesh="pinion_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h1" type="mesh" mesh="pinion_h1" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h2" type="mesh" mesh="pinion_h2" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h3" type="mesh" mesh="pinion_h3" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h4" type="mesh" mesh="pinion_h4" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h5" type="mesh" mesh="pinion_h5" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h6" type="mesh" mesh="pinion_h6" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h7" type="mesh" mesh="pinion_h7" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h8" type="mesh" mesh="pinion_h8" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pinion_h9" type="mesh" mesh="pinion_h9" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="0.36 0 0.3"><joint name="j_lever" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="-0.006740259208 -0.005843244412 0.001265656173" mass="0.12" fullinertia="0.000001772956676 0.0005789183637 0.0005786841028 6.858321734e-7 -0.00001316286609 2.380784133e-8"/></body>
<body name="plunger" pos="0.24 0 0.12"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="40" range="-0.12 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.009656414124" mass="0.05" fullinertia="0.0000203739866 0.00001929885239 0.000006684458312 0 0 0"/><body name="crod" pos="0 0 0.1"><joint name="j_c" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 -0.006 0.04" mass="0.01" fullinertia="0.000005355833333 0.000005355833333 4.5e-8 0 0 0"/></body>
</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="crod" anchor="-0.12 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="p_K" body1="rod" body2="sector" anchor="0 0 0.102" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lever" body2="crod"/><exclude body1="rod" body2="sector"/></contact>
<actuator><velocity name="drive" joint="j_lever" kv="2000" forcerange="-40 40"/></actuator>
</mujoco>
