<mujoco model="131-slotted-arm-sector-rack">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 0"><flag multiccd="enable"/></option>
<asset><mesh name="arm_h0" vertex="-0.025 -0.014 0.073 -0.025 -0.002 0.073 -0.012 -0.014 0.073 -0.012 -0.002 0.073 -0.012 -0.014 0.285 -0.012 -0.002 0.285 -0.025 -0.014 0.285 -0.025 -0.002 0.285"/><mesh name="arm_h1" vertex="0.012 -0.014 0.073 0.012 -0.002 0.073 0.025 -0.014 0.073 0.025 -0.002 0.073 0.025 -0.014 0.285 0.025 -0.002 0.285 0.012 -0.014 0.285 0.012 -0.002 0.285"/><mesh name="arm_h2" vertex="-0.064493 -0.014 -0.002801 -0.064493 -0.002 -0.002801 -0.061562 -0.014 -0.019426 -0.061562 -0.002 -0.019426 -0.075815 -0.014 -0.016913 -0.075815 -0.002 -0.016913 -0.077027 -0.014 -0.010037 -0.077027 -0.002 -0.010037"/><mesh name="arm_h3" vertex="-0.059646 -0.014 -0.02469 -0.059646 -0.002 -0.02469 -0.051205 -0.014 -0.03931 -0.051205 -0.002 -0.03931 -0.065458 -0.014 -0.041823 -0.065458 -0.002 -0.041823 -0.068949 -0.014 -0.035777 -0.068949 -0.002 -0.035777"/><mesh name="arm_h4" vertex="-0.047605 -0.014 -0.043601 -0.047605 -0.002 -0.043601 -0.034672 -0.014 -0.054453 -0.034672 -0.002 -0.054453 -0.047206 -0.014 -0.061689 -0.047206 -0.002 -0.061689 -0.052555 -0.014 -0.057201 -0.052555 -0.002 -0.057201"/><mesh name="arm_h5" vertex="-0.029821 -0.014 -0.057253 -0.029821 -0.002 -0.057253 -0.013957 -0.014 -0.063027 -0.013957 -0.002 -0.063027 -0.02326 -0.014 -0.074114 -0.02326 -0.002 -0.074114 -0.029821 -0.014 -0.071726 -0.029821 -0.002 -0.071726"/><mesh name="arm_h6" vertex="-0.008441 -0.014 -0.064 -0.008441 -0.002 -0.064 0.008441 -0.014 -0.064 0.008441 -0.002 -0.064 0.003491 -0.014 -0.0776 0.003491 -0.002 -0.0776 -0.003491 -0.014 -0.0776 -0.003491 -0.002 -0.0776"/><mesh name="arm_h7" vertex="0.013957 -0.014 -0.063027 0.013957 -0.002 -0.063027 0.029821 -0.014 -0.057253 0.029821 -0.002 -0.057253 0.029821 -0.014 -0.071726 0.029821 -0.002 -0.071726 0.02326 -0.014 -0.074114 0.02326 -0.002 -0.074114"/><mesh name="arm_h8" vertex="0.034672 -0.014 -0.054453 0.034672 -0.002 -0.054453 0.047605 -0.014 -0.043601 0.047605 -0.002 -0.043601 0.052555 -0.014 -0.057201 0.052555 -0.002 -0.057201 0.047206 -0.014 -0.061689 0.047206 -0.002 -0.061689"/><mesh name="arm_h9" vertex="0.051205 -0.014 -0.03931 0.051205 -0.002 -0.03931 0.059646 -0.014 -0.02469 0.059646 -0.002 -0.02469 0.068949 -0.014 -0.035777 0.068949 -0.002 -0.035777 0.065458 -0.014 -0.041823 0.065458 -0.002 -0.041823"/><mesh name="arm_h10" vertex="0.061562 -0.014 -0.019426 0.061562 -0.002 -0.019426 0.064493 -0.014 -0.002801 0.064493 -0.002 -0.002801 0.077027 -0.014 -0.010037 0.077027 -0.002 -0.010037 0.075815 -0.014 -0.016913 0.075815 -0.002 -0.016913"/><mesh name="rack_h0" vertex="-0.121287 -0.014 -0.08 -0.121287 -0.002 -0.08 -0.104908 -0.014 -0.08 -0.104908 -0.002 -0.08 -0.109275 -0.014 -0.068 -0.109275 -0.002 -0.068 -0.116919 -0.014 -0.068 -0.116919 -0.002 -0.068"/><mesh name="rack_h1" vertex="-0.096154 -0.014 -0.08 -0.096154 -0.002 -0.08 -0.079775 -0.014 -0.08 -0.079775 -0.002 -0.08 -0.084143 -0.014 -0.068 -0.084143 -0.002 -0.068 -0.091787 -0.014 -0.068 -0.091787 -0.002 -0.068"/><mesh name="rack_h2" vertex="-0.071021 -0.014 -0.08 -0.071021 -0.002 -0.08 -0.054642 -0.014 -0.08 -0.054642 -0.002 -0.08 -0.05901 -0.014 -0.068 -0.05901 -0.002 -0.068 -0.066654 -0.014 -0.068 -0.066654 -0.002 -0.068"/><mesh name="rack_h3" vertex="-0.045889 -0.014 -0.08 -0.045889 -0.002 -0.08 -0.029509 -0.014 -0.08 -0.029509 -0.002 -0.08 -0.033877 -0.014 -0.068 -0.033877 -0.002 -0.068 -0.041521 -0.014 -0.068 -0.041521 -0.002 -0.068"/><mesh name="rack_h4" vertex="-0.020756 -0.014 -0.08 -0.020756 -0.002 -0.08 -0.004377 -0.014 -0.08 -0.004377 -0.002 -0.08 -0.008744 -0.014 -0.068 -0.008744 -0.002 -0.068 -0.016388 -0.014 -0.068 -0.016388 -0.002 -0.068"/><mesh name="rack_h5" vertex="0.004377 -0.014 -0.08 0.004377 -0.002 -0.08 0.020756 -0.014 -0.08 0.020756 -0.002 -0.08 0.016388 -0.014 -0.068 0.016388 -0.002 -0.068 0.008744 -0.014 -0.068 0.008744 -0.002 -0.068"/><mesh name="rack_h6" vertex="0.029509 -0.014 -0.08 0.029509 -0.002 -0.08 0.045889 -0.014 -0.08 0.045889 -0.002 -0.08 0.041521 -0.014 -0.068 0.041521 -0.002 -0.068 0.033877 -0.014 -0.068 0.033877 -0.002 -0.068"/><mesh name="rack_h7" vertex="0.054642 -0.014 -0.08 0.054642 -0.002 -0.08 0.071021 -0.014 -0.08 0.071021 -0.002 -0.08 0.066654 -0.014 -0.068 0.066654 -0.002 -0.068 0.05901 -0.014 -0.068 0.05901 -0.002 -0.068"/><mesh name="rack_h8" vertex="0.079775 -0.014 -0.08 0.079775 -0.002 -0.08 0.096154 -0.014 -0.08 0.096154 -0.002 -0.08 0.091787 -0.014 -0.068 0.091787 -0.002 -0.068 0.084143 -0.014 -0.068 0.084143 -0.002 -0.068"/><mesh name="rack_h9" vertex="0.104908 -0.014 -0.08 0.104908 -0.002 -0.08 0.121287 -0.014 -0.08 0.121287 -0.002 -0.08 0.116919 -0.014 -0.068 0.116919 -0.002 -0.068 0.109275 -0.014 -0.068 0.109275 -0.002 -0.068"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0.18"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0.01143603002 -0.1778786097" mass="1.5" fullinertia="0.006857144345 0.01316506173 0.006367821844 0 0 0.0000072674715"/><geom name="disk_h0" type="capsule" fromto="0 -0.008 -0.09 0 0.008 -0.09" size="0.01" 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="arm" pos="0 0 0"><joint name="j_arm" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.008069097387 0.05565338966" mass="0.6" fullinertia="0.006570809082 0.006928203342 0.0003738338134 0 0 -0.00000230730229"/><geom name="arm_h0" type="mesh" mesh="arm_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="arm_h1" type="mesh" mesh="arm_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="arm_h2" type="mesh" mesh="arm_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="arm_h3" type="mesh" mesh="arm_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="arm_h4" type="mesh" mesh="arm_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="arm_h5" type="mesh" mesh="arm_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="arm_h6" type="mesh" mesh="arm_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="arm_h7" type="mesh" mesh="arm_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="arm_h8" type="mesh" mesh="arm_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="arm_h9" type="mesh" mesh="arm_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="arm_h10" type="mesh" mesh="arm_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="rack" pos="0 0 0"><joint name="j_x" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 -0.008 -0.08258180902" mass="0.4" fullinertia="0.00001491666384 0.002663037388 0.002656091632 0 0 0"/><geom name="rack_h0" type="mesh" mesh="rack_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="rack_h1" type="mesh" mesh="rack_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="rack_h2" type="mesh" mesh="rack_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="rack_h3" type="mesh" mesh="rack_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="rack_h4" type="mesh" mesh="rack_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="rack_h5" type="mesh" mesh="rack_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="rack_h6" type="mesh" mesh="rack_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="rack_h7" type="mesh" mesh="rack_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="rack_h8" type="mesh" mesh="rack_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="rack_h9" type="mesh" mesh="rack_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="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_d" kv="20" forcerange="-30 30"/></actuator>
</mujoco>
