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There is a mechanism shown in the figure_1; a rotating gear interacts with a grip.
There is no problem (figure_2) until I change the grip shape with the same setting as previous, where the model crashes (figure_3). Healthy grip and ill grip settings are shown in figure_4 and figure_5 respectively.
Grip rotation is due to a hinge constraint. I think the problem is due to that when grip collides with the gear for the first time, it intersects the gear(figure_6).

Therefore the questions are:
1- Why does grip intersects the gear when it collides with the gear for the first time?
2- Is intersecting issue the main cause of the ill simulation?

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