<mujoco model="302-balance-wheel-escapement">
<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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<body name="verge" pos="0 0 0.037"><joint name="j_verge" type="hinge" axis="1 0 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.09064103464 0 -0.001428276547" mass="0.1493333083" fullinertia="0.0003333470075 0.001046835667 0.0008022907201 -0.00001829818302 0.00001933275938 -0.0001029085178"/><geom name="verge_h0" type="mesh" mesh="verge_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="verge_h1" type="mesh" mesh="verge_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"/></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_crown" gear="1" ctrlrange="-0.025 0.025"/></actuator>
</mujoco>
