<mujoco model="501-mercurial-barometer">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="frame" pos="0 0 0"></body>
<body name="lever" pos="-0.25 0 0.48"><joint name="j_lever" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.03916251535 -0.005874172019 0.001015944394" mass="0.12" fullinertia="0.000001662886057 0.0009816001471 0.0009813821293 -4.414672399e-7 0.00001451856045 1.534010784e-8"/></body>
<body name="plunger" pos="-0.06 0 0.26"><joint name="j_p" type="slide" axis="0 0 1" damping="0.01" frictionloss="25" range="-0.12 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.0140420505" mass="0.05" fullinertia="0.00004306830861 0.00004203590591 0.000006427725353 0 0 0"/><body name="crod" pos="0 0 0.14"><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="0.19 0 0" solref="0.002 1" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="lever" body2="crod"/></contact>
<actuator><velocity name="drive" joint="j_lever" kv="2000" forcerange="-40 40"/></actuator>
</mujoco>
