<mujoco model="52-stud-clutch-box">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="500" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"/>
<asset><mesh name="disk_h34" vertex="0.024 0.046 0 0.024 0.052 0 0.0231822198 0.046 0.00621165708 0.0231822198 0.052 0.00621165708 0.0207846097 0.046 0.012 0.0207846097 0.052 0.012 0.0169705627 0.046 0.0169705627 0.0169705627 0.052 0.0169705627 0.012 0.046 0.0207846097 0.012 0.052 0.0207846097 0.00621165708 0.046 0.0231822198 0.00621165708 0.052 0.0231822198 1.46957616e-18 0.046 0.024 1.46957616e-18 0.052 0.024 -0.00621165708 0.046 0.0231822198 -0.00621165708 0.052 0.0231822198 -0.012 0.046 0.0207846097 -0.012 0.052 0.0207846097 -0.0169705627 0.046 0.0169705627 -0.0169705627 0.052 0.0169705627 -0.0207846097 0.046 0.012 -0.0207846097 0.052 0.012 -0.0231822198 0.046 0.00621165708 -0.0231822198 0.052 0.00621165708 -0.024 0.046 2.93915232e-18 -0.024 0.052 2.93915232e-18 -0.0231822198 0.046 -0.00621165708 -0.0231822198 0.052 -0.00621165708 -0.0207846097 0.046 -0.012 -0.0207846097 0.052 -0.012 -0.0169705627 0.046 -0.0169705627 -0.0169705627 0.052 -0.0169705627 -0.012 0.046 -0.0207846097 -0.012 0.052 -0.0207846097 -0.00621165708 0.046 -0.0231822198 -0.00621165708 0.052 -0.0231822198 -4.40872848e-18 0.046 -0.024 -4.40872848e-18 0.052 -0.024 0.00621165708 0.046 -0.0231822198 0.00621165708 0.052 -0.0231822198 0.012 0.046 -0.0207846097 0.012 0.052 -0.0207846097 0.0169705627 0.046 -0.0169705627 0.0169705627 0.052 -0.0169705627 0.0207846097 0.046 -0.012 0.0207846097 0.052 -0.012 0.0231822198 0.046 -0.00621165708 0.0231822198 0.052 -0.00621165708"/><mesh name="disk_h35" vertex="0.024 0.064 0 0.024 0.07 0 0.0231822198 0.064 0.00621165708 0.0231822198 0.07 0.00621165708 0.0207846097 0.064 0.012 0.0207846097 0.07 0.012 0.0169705627 0.064 0.0169705627 0.0169705627 0.07 0.0169705627 0.012 0.064 0.0207846097 0.012 0.07 0.0207846097 0.00621165708 0.064 0.0231822198 0.00621165708 0.07 0.0231822198 1.46957616e-18 0.064 0.024 1.46957616e-18 0.07 0.024 -0.00621165708 0.064 0.0231822198 -0.00621165708 0.07 0.0231822198 -0.012 0.064 0.0207846097 -0.012 0.07 0.0207846097 -0.0169705627 0.064 0.0169705627 -0.0169705627 0.07 0.0169705627 -0.0207846097 0.064 0.012 -0.0207846097 0.07 0.012 -0.0231822198 0.064 0.00621165708 -0.0231822198 0.07 0.00621165708 -0.024 0.064 2.93915232e-18 -0.024 0.07 2.93915232e-18 -0.0231822198 0.064 -0.00621165708 -0.0231822198 0.07 -0.00621165708 -0.0207846097 0.064 -0.012 -0.0207846097 0.07 -0.012 -0.0169705627 0.064 -0.0169705627 -0.0169705627 0.07 -0.0169705627 -0.012 0.064 -0.0207846097 -0.012 0.07 -0.0207846097 -0.00621165708 0.064 -0.0231822198 -0.00621165708 0.07 -0.0231822198 -4.40872848e-18 0.064 -0.024 -4.40872848e-18 0.07 -0.024 0.00621165708 0.064 -0.0231822198 0.00621165708 0.07 -0.0231822198 0.012 0.064 -0.0207846097 0.012 0.07 -0.0207846097 0.0169705627 0.064 -0.0169705627 0.0169705627 0.07 -0.0169705627 0.0207846097 0.064 -0.012 0.0207846097 0.07 -0.012 0.0231822198 0.064 -0.00621165708 0.0231822198 0.07 -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>
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<body name="shaft" pos="0 0 0"><joint name="j_shaft" type="hinge" axis="0 1 0" damping="0.1" frictionloss="0"/><inertial pos="0 0.08570040311 0.0002643247912" mass="0.1531869481" fullinertia="0.0003475044468 0.000002879068185 0.000347272203 0 0 0.00000114186557"/><body name="disk" pos="0 0 0"><joint name="j_feather" type="slide" axis="0 1 0" damping="0.5" frictionloss="0" range="-0.013 0.003" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.02775865612 0" mass="2.433808463" fullinertia="0.002188590603 0.003456355042 0.002038782899 0 0 0"/><geom name="disk_h0" type="capsule" fromto="0.022 0.018 -0.0125 0.038 0.018 -0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 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="capsule" fromto="0.022 0.0245 -0.0125 0.038 0.0245 -0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" 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group="2" mass="0"/><geom name="disk_h6" type="capsule" fromto="0.017247 0.018 0.013658 0.029791 0.018 0.023591" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h7" type="capsule" fromto="0.01452 0.018 0.016528 0.02508 0.018 0.028548" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h8" type="capsule" fromto="0.011323 0.018 0.018863 0.019557 0.018 0.032581" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h9" type="capsule" fromto="0.007758 0.018 0.020587 0.013401 0.018 0.035559" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h10" type="capsule" fromto="0.003943 0.018 0.021644 0.006811 0.018 0.037385" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h11" type="capsule" fromto="0 0.018 0.022 0 0.018 0.038" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h12" type="capsule" fromto="-0.003943 0.018 0.021644 -0.006811 0.018 0.037385" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h13" type="capsule" fromto="-0.007758 0.018 0.020587 -0.013401 0.018 0.035559" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h14" type="capsule" fromto="-0.011323 0.018 0.018863 -0.019557 0.018 0.032581" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h15" type="capsule" fromto="-0.01452 0.018 0.016528 -0.02508 0.018 0.028548" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h16" type="capsule" fromto="-0.017247 0.018 0.013658 -0.029791 0.018 0.023591" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h17" type="capsule" fromto="-0.022 0.018 0.0125 -0.038 0.018 0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h18" type="capsule" fromto="-0.022 0.0245 0.0125 -0.038 0.0245 0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h19" type="capsule" fromto="-0.022 0.031 0.0125 -0.038 0.031 0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h20" type="capsule" fromto="-0.022 0.018 -0.0125 -0.038 0.018 -0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h21" type="capsule" fromto="-0.022 0.0245 -0.0125 -0.038 0.0245 -0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h22" type="capsule" fromto="-0.022 0.031 -0.0125 -0.038 0.031 -0.0125" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h23" type="capsule" fromto="-0.017247 0.018 -0.013658 -0.029791 0.018 -0.023591" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h24" type="capsule" fromto="-0.01452 0.018 -0.016528 -0.02508 0.018 -0.028548" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h25" type="capsule" fromto="-0.011323 0.018 -0.018863 -0.019557 0.018 -0.032581" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h26" type="capsule" fromto="-0.007758 0.018 -0.020587 -0.013401 0.018 -0.035559" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h27" type="capsule" fromto="-0.003943 0.018 -0.021644 -0.006811 0.018 -0.037385" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h28" type="capsule" fromto="0 0.018 -0.022 0 0.018 -0.038" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h29" type="capsule" fromto="0.003943 0.018 -0.021644 0.006811 0.018 -0.037385" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h30" type="capsule" fromto="0.007758 0.018 -0.020587 0.013401 0.018 -0.035559" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h31" type="capsule" fromto="0.011323 0.018 -0.018863 0.019557 0.018 -0.032581" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h32" type="capsule" fromto="0.01452 0.018 -0.016528 0.02508 0.018 -0.028548" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h33" type="capsule" fromto="0.017247 0.018 -0.013658 0.029791 0.018 -0.023591" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h34" type="mesh" mesh="disk_h34" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="disk_h35" type="mesh" mesh="disk_h35" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
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<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>
