<mujoco model="47-frictional-clutch-box">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
<asset><mesh name="drv_h0" vertex="0.05 -0.015 0 0.05 -0.005 0 0.0482962913 -0.015 0.0129409523 0.0482962913 -0.005 0.0129409523 0.0433012702 -0.015 0.025 0.0433012702 -0.005 0.025 0.0353553391 -0.015 0.0353553391 0.0353553391 -0.005 0.0353553391 0.025 -0.015 0.0433012702 0.025 -0.005 0.0433012702 0.0129409523 -0.015 0.0482962913 0.0129409523 -0.005 0.0482962913 3.061617e-18 -0.015 0.05 3.061617e-18 -0.005 0.05 -0.0129409523 -0.015 0.0482962913 -0.0129409523 -0.005 0.0482962913 -0.025 -0.015 0.0433012702 -0.025 -0.005 0.0433012702 -0.0353553391 -0.015 0.0353553391 -0.0353553391 -0.005 0.0353553391 -0.0433012702 -0.015 0.025 -0.0433012702 -0.005 0.025 -0.0482962913 -0.015 0.0129409523 -0.0482962913 -0.005 0.0129409523 -0.05 -0.015 6.123234e-18 -0.05 -0.005 6.123234e-18 -0.0482962913 -0.015 -0.0129409523 -0.0482962913 -0.005 -0.0129409523 -0.0433012702 -0.015 -0.025 -0.0433012702 -0.005 -0.025 -0.0353553391 -0.015 -0.0353553391 -0.0353553391 -0.005 -0.0353553391 -0.025 -0.015 -0.0433012702 -0.025 -0.005 -0.0433012702 -0.0129409523 -0.015 -0.0482962913 -0.0129409523 -0.005 -0.0482962913 -9.18485099e-18 -0.015 -0.05 -9.18485099e-18 -0.005 -0.05 0.0129409523 -0.015 -0.0482962913 0.0129409523 -0.005 -0.0482962913 0.025 -0.015 -0.0433012702 0.025 -0.005 -0.0433012702 0.0353553391 -0.015 -0.0353553391 0.0353553391 -0.005 -0.0353553391 0.0433012702 -0.015 -0.025 0.0433012702 -0.005 -0.025 0.0482962913 -0.015 -0.0129409523 0.0482962913 -0.005 -0.0129409523"/><mesh name="disk_h0" vertex="0.05 0 0 0.05 0.01 0 0.0482962913 0 0.0129409523 0.0482962913 0.01 0.0129409523 0.0433012702 0 0.025 0.0433012702 0.01 0.025 0.0353553391 0 0.0353553391 0.0353553391 0.01 0.0353553391 0.025 0 0.0433012702 0.025 0.01 0.0433012702 0.0129409523 0 0.0482962913 0.0129409523 0.01 0.0482962913 3.061617e-18 0 0.05 3.061617e-18 0.01 0.05 -0.0129409523 0 0.0482962913 -0.0129409523 0.01 0.0482962913 -0.025 0 0.0433012702 -0.025 0.01 0.0433012702 -0.0353553391 0 0.0353553391 -0.0353553391 0.01 0.0353553391 -0.0433012702 0 0.025 -0.0433012702 0.01 0.025 -0.0482962913 0 0.0129409523 -0.0482962913 0.01 0.0129409523 -0.05 0 6.123234e-18 -0.05 0.01 6.123234e-18 -0.0482962913 0 -0.0129409523 -0.0482962913 0.01 -0.0129409523 -0.0433012702 0 -0.025 -0.0433012702 0.01 -0.025 -0.0353553391 0 -0.0353553391 -0.0353553391 0.01 -0.0353553391 -0.025 0 -0.0433012702 -0.025 0.01 -0.0433012702 -0.0129409523 0 -0.0482962913 -0.0129409523 0.01 -0.0482962913 -9.18485099e-18 0 -0.05 -9.18485099e-18 0.01 -0.05 0.0129409523 0 -0.0482962913 0.0129409523 0.01 -0.0482962913 0.025 0 -0.0433012702 0.025 0.01 -0.0433012702 0.0353553391 0 -0.0353553391 0.0353553391 0.01 -0.0353553391 0.0433012702 0 -0.025 0.0433012702 0.01 -0.025 0.0482962913 0 -0.0129409523 0.0482962913 0.01 -0.0129409523"/><mesh name="disk_h1" vertex="0.024 0.036 0 0.024 0.042 0 0.0231822198 0.036 0.00621165708 0.0231822198 0.042 0.00621165708 0.0207846097 0.036 0.012 0.0207846097 0.042 0.012 0.0169705627 0.036 0.0169705627 0.0169705627 0.042 0.0169705627 0.012 0.036 0.0207846097 0.012 0.042 0.0207846097 0.00621165708 0.036 0.0231822198 0.00621165708 0.042 0.0231822198 1.46957616e-18 0.036 0.024 1.46957616e-18 0.042 0.024 -0.00621165708 0.036 0.0231822198 -0.00621165708 0.042 0.0231822198 -0.012 0.036 0.0207846097 -0.012 0.042 0.0207846097 -0.0169705627 0.036 0.0169705627 -0.0169705627 0.042 0.0169705627 -0.0207846097 0.036 0.012 -0.0207846097 0.042 0.012 -0.0231822198 0.036 0.00621165708 -0.0231822198 0.042 0.00621165708 -0.024 0.036 2.93915232e-18 -0.024 0.042 2.93915232e-18 -0.0231822198 0.036 -0.00621165708 -0.0231822198 0.042 -0.00621165708 -0.0207846097 0.036 -0.012 -0.0207846097 0.042 -0.012 -0.0169705627 0.036 -0.0169705627 -0.0169705627 0.042 -0.0169705627 -0.012 0.036 -0.0207846097 -0.012 0.042 -0.0207846097 -0.00621165708 0.036 -0.0231822198 -0.00621165708 0.042 -0.0231822198 -4.40872848e-18 0.036 -0.024 -4.40872848e-18 0.042 -0.024 0.00621165708 0.036 -0.0231822198 0.00621165708 0.042 -0.0231822198 0.012 0.036 -0.0207846097 0.012 0.042 -0.0207846097 0.0169705627 0.036 -0.0169705627 0.0169705627 0.042 -0.0169705627 0.0207846097 0.036 -0.012 0.0207846097 0.042 -0.012 0.0231822198 0.036 -0.00621165708 0.0231822198 0.042 -0.00621165708"/><mesh name="disk_h2" vertex="0.024 0.054 0 0.024 0.06 0 0.0231822198 0.054 0.00621165708 0.0231822198 0.06 0.00621165708 0.0207846097 0.054 0.012 0.0207846097 0.06 0.012 0.0169705627 0.054 0.0169705627 0.0169705627 0.06 0.0169705627 0.012 0.054 0.0207846097 0.012 0.06 0.0207846097 0.00621165708 0.054 0.0231822198 0.00621165708 0.06 0.0231822198 1.46957616e-18 0.054 0.024 1.46957616e-18 0.06 0.024 -0.00621165708 0.054 0.0231822198 -0.00621165708 0.06 0.0231822198 -0.012 0.054 0.0207846097 -0.012 0.06 0.0207846097 -0.0169705627 0.054 0.0169705627 -0.0169705627 0.06 0.0169705627 -0.0207846097 0.054 0.012 -0.0207846097 0.06 0.012 -0.0231822198 0.054 0.00621165708 -0.0231822198 0.06 0.00621165708 -0.024 0.054 2.93915232e-18 -0.024 0.06 2.93915232e-18 -0.0231822198 0.054 -0.00621165708 -0.0231822198 0.06 -0.00621165708 -0.0207846097 0.054 -0.012 -0.0207846097 0.06 -0.012 -0.0169705627 0.054 -0.0169705627 -0.0169705627 0.06 -0.0169705627 -0.012 0.054 -0.0207846097 -0.012 0.06 -0.0207846097 -0.00621165708 0.054 -0.0231822198 -0.00621165708 0.06 -0.0231822198 -4.40872848e-18 0.054 -0.024 -4.40872848e-18 0.06 -0.024 0.00621165708 0.054 -0.0231822198 0.00621165708 0.06 -0.0231822198 0.012 0.054 -0.0207846097 0.012 0.06 -0.0207846097 0.0169705627 0.054 -0.0169705627 0.0169705627 0.06 -0.0169705627 0.0207846097 0.054 -0.012 0.0207846097 0.06 -0.012 0.0231822198 0.054 -0.00621165708 0.0231822198 0.06 -0.00621165708"/><mesh name="lever_h0" vertex="-0.009 -0.0045 0.107 -0.009 0.0045 0.107 0.009 -0.0045 0.107 0.009 0.0045 0.107 0.009 -0.0045 0.114 0.009 0.0045 0.114 -0.009 -0.0045 0.114 -0.009 0.0045 0.114"/></asset>
<size memory="64M"/>
<worldbody>
<body name="drv" pos="0 0 0"><joint name="j_drv" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 -0.02043768546 0" mass="0.8257990449" fullinertia="0.0009676521455 0.0007799512701 0.0009676521455 0 0 0"/><geom name="drv_h0" type="mesh" mesh="drv_h0" contype="8" conaffinity="16" condim="3" friction="0.4 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="shaft" pos="0 0 0"><joint name="j_shaft" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0.07964891041 0.0002615012107" mass="0.1457327027" fullinertia="0.0003006628314 0.000002737840365 0.0003004441414 0 0 0.000001129898575"/><body name="disk" pos="0 0 0"><joint name="j_feather" type="slide" axis="0 1 0" damping="2" frictionloss="0" range="-0.007 0.003" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.01846001203 0" mass="0.9780205187" fullinertia="0.0007912304152 0.0008372831896 0.0007912304152 0 0 0"/><geom name="disk_h0" type="mesh" mesh="disk_h0" contype="16" conaffinity="8" condim="3" friction="0.4 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h1" type="mesh" mesh="disk_h1" contype="16" conaffinity="8" condim="3" friction="0.4 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h2" type="mesh" mesh="disk_h2" contype="16" conaffinity="8" condim="3" friction="0.4 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
<body name="lever" pos="0 0.048 -0.13"><joint name="j_lever" type="hinge" axis="1 0 0" damping="2" frictionloss="0" range="-0.04 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="40" springref="0"/><inertial pos="0 0.007116465179 0.02617391029" mass="0.02421476128" fullinertia="0.00006935980472 0.00006526769075 0.000004446870298 0 0 0.00001139241833"/><geom name="lever_h0" type="mesh" mesh="lever_h0" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" 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_drv" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
