<mujoco model="301-two-wheel-escapement-side">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
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<equality></equality>

<actuator><motor name="drive" joint="j_wheels" gear="1" ctrlrange="-0.01 0.01"/></actuator>
</mujoco>
