<mujoco model="296-lever-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
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<size memory="64M"/>
<worldbody>
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<body name="anchor" pos="0 0 0.034641"><joint name="j_anchor" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0.0003" range="-0.002 0.29645" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.001062618547 0.0005611885886 0.008236743263" mass="0.004" fullinertia="0.000001442165821 0.000001750475704 3.54108426e-7 1.547103104e-8 1.758390822e-7 -9.666314614e-8"/><geom name="anchor_h0" type="mesh" mesh="anchor_h0" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="anchor_h1" type="mesh" mesh="anchor_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="anchor_h2" type="mesh" mesh="anchor_h2" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="anchor_h3" type="mesh" mesh="anchor_h3" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="balance" pos="0 0 0.114641"><joint name="j_bal" type="hinge" axis="0 1 0" damping="0.000003" frictionloss="0" stiffness="0.0028" springref="-2"/><inertial pos="-0.00003155026654 0.008737857488 0.00001445008385" mass="0.1" fullinertia="0.00003723103405 0.00007359613005 0.0000372762726 -1.494370437e-8 2.620188347e-8 6.837816706e-9"/><geom name="balance_h0" type="mesh" mesh="balance_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="plate" 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>
