<mujoco model="281-face-groove-lever">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0005" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h186" type="mesh" mesh="disk_h186" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h187" type="mesh" mesh="disk_h187" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h188" type="mesh" mesh="disk_h188" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h189" type="mesh" mesh="disk_h189" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h190" type="mesh" mesh="disk_h190" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h191" type="mesh" mesh="disk_h191" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h192" type="mesh" mesh="disk_h192" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h193" type="mesh" mesh="disk_h193" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h194" type="mesh" mesh="disk_h194" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h195" type="mesh" mesh="disk_h195" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h196" type="mesh" mesh="disk_h196" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h197" type="mesh" mesh="disk_h197" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h198" type="mesh" mesh="disk_h198" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h199" type="mesh" mesh="disk_h199" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h200" type="mesh" mesh="disk_h200" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h201" type="mesh" mesh="disk_h201" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h202" type="mesh" mesh="disk_h202" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h203" type="mesh" mesh="disk_h203" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h204" type="mesh" mesh="disk_h204" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h205" type="mesh" mesh="disk_h205" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h206" type="mesh" mesh="disk_h206" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h207" type="mesh" mesh="disk_h207" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h208" type="mesh" mesh="disk_h208" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h209" type="mesh" mesh="disk_h209" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h210" type="mesh" mesh="disk_h210" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h211" type="mesh" mesh="disk_h211" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h212" type="mesh" mesh="disk_h212" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h213" type="mesh" mesh="disk_h213" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h214" type="mesh" mesh="disk_h214" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h215" type="mesh" mesh="disk_h215" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h216" type="mesh" mesh="disk_h216" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h217" type="mesh" mesh="disk_h217" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h218" type="mesh" mesh="disk_h218" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h219" type="mesh" mesh="disk_h219" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h220" type="mesh" mesh="disk_h220" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h221" type="mesh" mesh="disk_h221" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h222" type="mesh" mesh="disk_h222" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h223" type="mesh" mesh="disk_h223" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h224" type="mesh" mesh="disk_h224" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h225" type="mesh" mesh="disk_h225" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h226" type="mesh" mesh="disk_h226" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 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solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h232" type="mesh" mesh="disk_h232" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h233" type="mesh" mesh="disk_h233" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h234" type="mesh" mesh="disk_h234" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h235" type="mesh" mesh="disk_h235" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h236" type="mesh" mesh="disk_h236" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h237" type="mesh" mesh="disk_h237" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h238" type="mesh" mesh="disk_h238" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/><geom name="disk_h239" type="mesh" mesh="disk_h239" contype="8" conaffinity="16" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="2" mass="0"/></body>
<body name="lever" pos="0.05 0 0.1"><joint name="j_l" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 -0.009248093658 -0.09217841189" mass="0.3" fullinertia="0.001270763926 0.001272889286 0.000006033723303 0 0 2.13232782e-7"/><geom name="lever_h0" type="capsule" fromto="0 -0.004 -0.095 0 0.003 -0.095" size="0.005" contype="16" conaffinity="8" condim="3" friction="0.05 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" 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_c" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
