<mujoco model="290-ring-pendulum-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="wheel_h0" vertex="0.0298356561 -0.003 0.0031358612 0.0298356561 0.003 0.0031358612 0.0129287843 -0.003 0.00135887319 0.0129287843 0.003 0.00135887319 0.00396534539 -0.003 0.0123804699 0.00396534539 0.003 0.0123804699"/><mesh name="wheel_h1" vertex="0.00623734354 -0.003 0.0293444295 0.00623734354 0.003 0.0293444295 0.00270284887 -0.003 0.0127159195 0.00270284887 0.003 0.0127159195 -0.0105491675 -0.003 0.00759704318 -0.0105491675 0.003 0.00759704318"/><mesh name="wheel_h2" vertex="-0.0259807658 -0.003 0.0149999936 -0.0259807658 0.003 0.0149999936 -0.0112583318 -0.003 0.00649999724 -0.0112583318 0.003 0.00649999724 -0.0104850895 -0.003 -0.00768523904 -0.0104850895 0.003 -0.00768523904"/><mesh name="wheel_h3" vertex="-0.0222943398 -0.003 -0.0200739237 -0.0222943398 0.003 -0.0200739237 -0.0096608806 -0.003 -0.00869870025 -0.0096608806 0.003 -0.00869870025 0.00406902584 -0.003 -0.0123467821 0.00406902584 0.003 -0.0123467821"/><mesh name="wheel_h4" vertex="0.012202106 -0.003 -0.0274063607 0.012202106 0.003 -0.0274063607 0.00528757927 -0.003 -0.0118760897 0.00528757927 0.003 -0.0118760897 0.0129998857 -0.003 0.0000545080416 0.0129998857 0.003 0.0000545080416"/><mesh name="pendulum_h0" vertex="0.0285 -0.0035 -0.11 0.0285 0.0035 -0.11 0.041 -0.0035 -0.1027831 0.041 0.0035 -0.1027831 0.041 -0.0035 -0.115 0.041 0.0035 -0.115 0.0285 -0.0035 -0.115 0.0285 0.0035 -0.115"/><mesh name="pendulum_h1" vertex="-0.0285 -0.0035 -0.11 -0.0285 0.0035 -0.11 -0.041 -0.0035 -0.1172169 -0.041 0.0035 -0.1172169 -0.041 -0.0035 -0.105 -0.041 0.0035 -0.105 -0.0285 -0.0035 -0.105 -0.0285 0.0035 -0.105"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 1 0" damping="0.00002" frictionloss="0"/><inertial pos="0 0.00002875265926 0" mass="0.04933892966" fullinertia="0.000005316245946 0.00001021786438 0.000005316245946 0 0 0"/><geom name="wheel_h0" type="mesh" mesh="wheel_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="wheel_h1" type="mesh" mesh="wheel_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="wheel_h2" type="mesh" mesh="wheel_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="wheel_h3" type="mesh" mesh="wheel_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="wheel_h4" type="mesh" mesh="wheel_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"/></body>
<body name="pendulum" pos="0 0 0.11"><joint name="j_pend" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 -0.1506158259" mass="0.1951050635" fullinertia="0.0005693532113 0.0006704909207 0.000103969048 0 1.441398874e-7 0"/><geom name="pendulum_h0" type="mesh" mesh="pendulum_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="pendulum_h1" type="mesh" mesh="pendulum_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"/></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><motor name="drive" joint="j_wheel" gear="1" ctrlrange="-0.05 0.05"/></actuator>
</mujoco>
