<mujoco model="303-dead-beat-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="-0.0377355558 -0.0025 0.0328028632 -0.0377355558 0.0025 0.0328028632 -0.035677771 -0.0025 0.0265959894 -0.035677771 0.0025 0.0265959894 -0.0332365734 -0.0025 0.0204041708 -0.0332365734 0.0025 0.0204041708 -0.0312821386 -0.0025 0.0232900796 -0.0312821386 0.0025 0.0232900796"/><mesh name="wheel_h1" vertex="-0.0437310421 -0.0025 0.0242403787 -0.0437310421 0.0025 0.0242403787 -0.0404277433 -0.0025 0.0185969776 -0.0404277433 0.0025 0.0185969776 -0.0367525402 -0.0025 0.0130480185 -0.0367525402 0.0025 0.0130480185 -0.0354408286 -0.0025 0.0162772131 -0.0354408286 0.0025 0.0162772131"/><mesh name="wheel_h2" vertex="-0.047815272 -0.0025 0.0146184734 -0.047815272 0.0025 0.0146184734 -0.0434108291 -0.0025 0.00978518852 -0.0434108291 0.0025 0.00978518852 -0.0386622446 -0.0025 0.00512160524 -0.0386622446 0.0025 0.00512160524 -0.0380505844 -0.0025 0.00855295439 -0.0380505844 0.0025 0.00855295439"/><mesh name="wheel_h3" vertex="-0.0498097451 -0.0025 0.0043576706 -0.0498097451 0.0025 0.0043576706 -0.0444966534 -0.0025 0.000545739787 -0.0444966534 0.0025 0.000545739787 -0.0388822234 -0.0025 -0.00302864677 -0.0388822234 0.0025 -0.00302864677 -0.038997347 -0.0025 0.000454890477 -0.038997347 0.0025 0.000454890477"/><mesh name="wheel_h4" vertex="-0.0496272933 -0.0025 -0.00609358328 -0.0496272933 0.0025 -0.00609358328 -0.0436377605 -0.0025 -0.00871756039 -0.0436377605 0.0025 -0.00871756039 -0.0374028625 -0.0025 -0.0110465324 -0.0374028625 0.0025 -0.0110465324 -0.0382397385 -0.0025 -0.00766305433 -0.0382397385 0.0025 -0.00766305433"/><mesh name="wheel_h5" vertex="-0.0472758907 -0.0025 -0.0162785183 -0.0472758907 0.0025 -0.0162785183 -0.040871688 -0.0025 -0.0175998613 -0.040871688 0.0025 -0.0175998613 -0.034288817 -0.0025 -0.0185816315 -0.034288817 0.0025 -0.0185816315 -0.0358108699 -0.0025 -0.0154460869 -0.0358108699 0.0025 -0.0154460869"/><mesh name="wheel_h6" vertex="-0.0428583048 -0.0025 -0.025752004 -0.0428583048 0.0025 -0.025752004 -0.0363193266 -0.0025 -0.0257129639 -0.0363193266 0.0025 -0.0257129639 -0.0296761856 -0.0025 -0.0253046242 -0.0296761856 0.0025 -0.0253046242 -0.0318168944 -0.0025 -0.0225540513 -0.0318168944 0.0025 -0.0225540513"/><mesh name="wheel_h7" vertex="-0.0365676053 -0.0025 -0.0341000036 -0.0365676053 0.0025 -0.0341000036 -0.0301796364 -0.0025 -0.0327022866 -0.0301796364 0.0025 -0.0327022866 -0.0237665626 -0.0025 -0.0309216834 -0.0237665626 0.0025 -0.0309216834 -0.026432368 -0.0025 -0.0286762955 -0.026432368 0.0025 -0.0286762955"/><mesh name="wheel_h8" vertex="-0.028678726 -0.0025 -0.0409576693 -0.028678726 0.0025 -0.0409576693 -0.0227209512 -0.0025 -0.0382623624 -0.0227209512 0.0025 -0.0382623624 -0.0168182267 -0.0025 -0.0351873166 -0.0168182267 0.0025 -0.0351873166 -0.0198926202 -0.0025 -0.033545248 -0.0198926202 0.0025 -0.033545248"/><mesh name="wheel_h9" vertex="-0.0195364487 -0.0025 -0.0460252884 -0.0195364487 0.0025 -0.0460252884 -0.0142692515 -0.0025 -0.0421501893 -0.0142692515 0.0025 -0.0421501893 -0.00913485357 -0.0025 -0.0379150953 -0.00913485357 0.0025 -0.0379150953 -0.0124834695 -0.0025 -0.0369481121 -0.0124834695 0.0025 -0.0369481121"/><mesh name="wheel_h10" vertex="-0.00954033493 -0.0025 -0.0490813815 -0.00954033493 0.0025 -0.0490813815 -0.00519391697 -0.0025 -0.0441958508 -0.00519391697 0.0025 -0.0441958508 -0.00105224354 -0.0025 -0.0389858023 -0.00105224354 0.0025 -0.0389858023 -0.0045287313 -0.0025 -0.0387361665 -0.0045287313 0.0025 -0.0387361665"/><mesh name="wheel_h11" vertex="0.00087273729 -0.0025 -0.0499923827 0.00087273729 0.0025 -0.0499923827 0.00410841664 -0.0025 -0.0443099415 0.00410841664 0.0025 -0.0443099415 0.00707635459 -0.0025 -0.0383526427 0.00707635459 0.0025 -0.0383526427 0.00362393422 -0.0025 -0.0388312645 0.00362393422 0.0025 -0.0388312645"/><mesh name="wheel_h12" vertex="0.0112476667 -0.0025 -0.0487184769 0.0112476667 0.0025 -0.0487184769 0.0132311927 -0.0025 -0.0424874751 0.0132311927 0.0025 -0.0424874751 0.0148956821 -0.0025 -0.0360432886 0.0148956821 0.0025 -0.0360432886 0.0116182164 -0.0025 -0.0372292499 0.0116182164 0.0025 -0.0372292499"/><mesh name="wheel_h13" vertex="0.0211310191 -0.0025 -0.0453153399 0.0211310191 0.0025 -0.0453153399 0.0217757022 -0.0025 -0.0388081022 0.0217757022 0.0025 -0.0388081022 0.0220639968 -0.0025 -0.0321586699 0.0220639968 0.0025 -0.0321586699 0.0191047268 -0.0025 -0.0340001384 0.0191047268 0.0025 -0.0340001384"/><mesh name="wheel_h14" vertex="0.0300908446 -0.0025 -0.0399317051 0.0300908446 0.0025 -0.0399317051 0.029368509 -0.0025 -0.033432629 0.029368509 0.0025 -0.033432629 0.0282680089 -0.0025 -0.0268685629 0.0282680089 0.0025 -0.0268685629 0.025756269 -0.0025 -0.0292850578 0.025756269 0.0025 -0.0292850578"/><mesh name="wheel_h15" vertex="0.0377355558 -0.0025 -0.0328028632 0.0377355558 0.0025 -0.0328028632 0.035677771 -0.0025 -0.0265959894 0.035677771 0.0025 -0.0265959894 0.0332365734 -0.0025 -0.0204041708 0.0332365734 0.0025 -0.0204041708 0.0312821386 -0.0025 -0.0232900796 0.0312821386 0.0025 -0.0232900796"/><mesh name="wheel_h16" vertex="0.0437310421 -0.0025 -0.0242403787 0.0437310421 0.0025 -0.0242403787 0.0404277433 -0.0025 -0.0185969776 0.0404277433 0.0025 -0.0185969776 0.0367525402 -0.0025 -0.0130480185 0.0367525402 0.0025 -0.0130480185 0.0354408286 -0.0025 -0.0162772131 0.0354408286 0.0025 -0.0162772131"/><mesh name="wheel_h17" vertex="0.047815272 -0.0025 -0.0146184734 0.047815272 0.0025 -0.0146184734 0.0434108291 -0.0025 -0.00978518852 0.0434108291 0.0025 -0.00978518852 0.0386622446 -0.0025 -0.00512160524 0.0386622446 0.0025 -0.00512160524 0.0380505844 -0.0025 -0.00855295439 0.0380505844 0.0025 -0.00855295439"/><mesh name="wheel_h18" vertex="0.0498097451 -0.0025 -0.0043576706 0.0498097451 0.0025 -0.0043576706 0.0444966534 -0.0025 -0.000545739787 0.0444966534 0.0025 -0.000545739787 0.0388822234 -0.0025 0.00302864677 0.0388822234 0.0025 0.00302864677 0.038997347 -0.0025 -0.000454890477 0.038997347 0.0025 -0.000454890477"/><mesh name="wheel_h19" vertex="0.0496272933 -0.0025 0.00609358328 0.0496272933 0.0025 0.00609358328 0.0436377605 -0.0025 0.00871756039 0.0436377605 0.0025 0.00871756039 0.0374028625 -0.0025 0.0110465324 0.0374028625 0.0025 0.0110465324 0.0382397385 -0.0025 0.00766305433 0.0382397385 0.0025 0.00766305433"/><mesh name="wheel_h20" vertex="0.0472758907 -0.0025 0.0162785183 0.0472758907 0.0025 0.0162785183 0.040871688 -0.0025 0.0175998613 0.040871688 0.0025 0.0175998613 0.034288817 -0.0025 0.0185816315 0.034288817 0.0025 0.0185816315 0.0358108699 -0.0025 0.0154460869 0.0358108699 0.0025 0.0154460869"/><mesh name="wheel_h21" vertex="0.0428583048 -0.0025 0.025752004 0.0428583048 0.0025 0.025752004 0.0363193266 -0.0025 0.0257129639 0.0363193266 0.0025 0.0257129639 0.0296761856 -0.0025 0.0253046242 0.0296761856 0.0025 0.0253046242 0.0318168944 -0.0025 0.0225540513 0.0318168944 0.0025 0.0225540513"/><mesh name="wheel_h22" vertex="0.0365676053 -0.0025 0.0341000036 0.0365676053 0.0025 0.0341000036 0.0301796364 -0.0025 0.0327022866 0.0301796364 0.0025 0.0327022866 0.0237665626 -0.0025 0.0309216834 0.0237665626 0.0025 0.0309216834 0.026432368 -0.0025 0.0286762955 0.026432368 0.0025 0.0286762955"/><mesh name="wheel_h23" vertex="0.028678726 -0.0025 0.0409576693 0.028678726 0.0025 0.0409576693 0.0227209512 -0.0025 0.0382623624 0.0227209512 0.0025 0.0382623624 0.0168182267 -0.0025 0.0351873166 0.0168182267 0.0025 0.0351873166 0.0198926202 -0.0025 0.033545248 0.0198926202 0.0025 0.033545248"/><mesh name="wheel_h24" vertex="0.0195364487 -0.0025 0.0460252884 0.0195364487 0.0025 0.0460252884 0.0142692515 -0.0025 0.0421501893 0.0142692515 0.0025 0.0421501893 0.00913485357 -0.0025 0.0379150953 0.00913485357 0.0025 0.0379150953 0.0124834695 -0.0025 0.0369481121 0.0124834695 0.0025 0.0369481121"/><mesh name="wheel_h25" vertex="0.00954033493 -0.0025 0.0490813815 0.00954033493 0.0025 0.0490813815 0.00519391697 -0.0025 0.0441958508 0.00519391697 0.0025 0.0441958508 0.00105224354 -0.0025 0.0389858023 0.00105224354 0.0025 0.0389858023 0.0045287313 -0.0025 0.0387361665 0.0045287313 0.0025 0.0387361665"/><mesh name="wheel_h26" vertex="-0.00087273729 -0.0025 0.0499923827 -0.00087273729 0.0025 0.0499923827 -0.00410841664 -0.0025 0.0443099415 -0.00410841664 0.0025 0.0443099415 -0.00707635459 -0.0025 0.0383526427 -0.00707635459 0.0025 0.0383526427 -0.00362393422 -0.0025 0.0388312645 -0.00362393422 0.0025 0.0388312645"/><mesh name="wheel_h27" vertex="-0.0112476667 -0.0025 0.0487184769 -0.0112476667 0.0025 0.0487184769 -0.0132311927 -0.0025 0.0424874751 -0.0132311927 0.0025 0.0424874751 -0.0148956821 -0.0025 0.0360432886 -0.0148956821 0.0025 0.0360432886 -0.0116182164 -0.0025 0.0372292499 -0.0116182164 0.0025 0.0372292499"/><mesh name="wheel_h28" vertex="-0.0211310191 -0.0025 0.0453153399 -0.0211310191 0.0025 0.0453153399 -0.0217757022 -0.0025 0.0388081022 -0.0217757022 0.0025 0.0388081022 -0.0220639968 -0.0025 0.0321586699 -0.0220639968 0.0025 0.0321586699 -0.0191047268 -0.0025 0.0340001384 -0.0191047268 0.0025 0.0340001384"/><mesh name="wheel_h29" vertex="-0.0300908446 -0.0025 0.0399317051 -0.0300908446 0.0025 0.0399317051 -0.029368509 -0.0025 0.033432629 -0.029368509 0.0025 0.033432629 -0.0282680089 -0.0025 0.0268685629 -0.0282680089 0.0025 0.0268685629 -0.025756269 -0.0025 0.0292850578 -0.025756269 0.0025 0.0292850578"/><mesh name="pendulum_h0" vertex="-0.0408531073 -0.0035 -0.0260895583 -0.0408531073 0.0035 -0.0260895583 -0.0441617698 -0.0035 -0.028202532 -0.0441617698 0.0035 -0.028202532 -0.04294203 -0.0035 -0.0300271008 -0.04294203 0.0035 -0.0300271008 -0.0397247521 -0.0035 -0.0277774278 -0.0397247521 0.0035 -0.0277774278"/><mesh name="pendulum_h1" vertex="-0.0397247521 -0.0035 -0.0277774278 -0.0397247521 0.0035 -0.0277774278 -0.04294203 -0.0035 -0.0300271008 -0.04294203 0.0035 -0.0300271008 -0.0416469549 -0.0035 -0.0317989916 -0.0416469549 0.0035 -0.0317989916 -0.0385267059 -0.0035 -0.029416566 -0.0385267059 0.0035 -0.029416566"/><mesh name="pendulum_h2" vertex="-0.0385267059 -0.0035 -0.029416566 -0.0385267059 0.0035 -0.029416566 -0.0416469549 -0.0035 -0.0317989916 -0.0416469549 0.0035 -0.0317989916 -0.0402788166 -0.0035 -0.0335150959 -0.0402788166 0.0035 -0.0335150959 -0.0372610705 -0.0035 -0.0310040973 -0.0372610705 0.0035 -0.0310040973"/><mesh name="pendulum_h3" vertex="-0.0372610705 -0.0035 -0.0310040973 -0.0372610705 0.0035 -0.0310040973 -0.0402788166 -0.0035 -0.0335150959 -0.0402788166 0.0035 -0.0335150959 -0.0388400153 -0.0035 -0.035172403 -0.0388400153 0.0035 -0.035172403 -0.0359300662 -0.0035 -0.0325372366 -0.0359300662 0.0035 -0.0325372366"/><mesh name="pendulum_h4" vertex="-0.0359300662 -0.0035 -0.0325372366 -0.0359300662 0.0035 -0.0325372366 -0.0388400153 -0.0035 -0.035172403 -0.0388400153 0.0035 -0.035172403 -0.037333075 -0.0035 -0.0367680055 -0.037333075 0.0035 -0.0367680055 -0.034536028 -0.0035 -0.0340132944 -0.034536028 0.0035 -0.0340132944"/><mesh name="pendulum_h5" vertex="-0.0377162 -0.0035 -0.036375 -0.0377162 0.0035 -0.036375 -0.0373332 -0.0035 -0.036768 -0.0373332 0.0035 -0.036768 -0.0330196 -0.0035 -0.0354873 -0.0330196 0.0035 -0.0354873 -0.0348904 -0.0035 -0.0336497 -0.0348904 0.0035 -0.0336497"/><mesh name="pendulum_h6" vertex="0.0339111613 -0.0035 -0.0334050574 0.0339111613 0.0035 -0.0334050574 0.0367079126 -0.0035 -0.0361600688 0.0367079126 0.0035 -0.0361600688 0.0381899434 -0.0035 -0.0345911787 0.0381899434 0.0035 -0.0345911787 0.0352802772 -0.0035 -0.0319557 0.0352802772 0.0035 -0.0319557"/><mesh name="pendulum_h7" vertex="0.0352802772 -0.0035 -0.0319557 0.0352802772 0.0035 -0.0319557 0.0381899434 -0.0035 -0.0345911787 0.0381899434 0.0035 -0.0345911787 0.0396049758 -0.0035 -0.0329616037 0.0396049758 0.0035 -0.0329616037 0.0365874992 -0.0035 -0.0304502812 0.0365874992 0.0035 -0.0304502812"/><mesh name="pendulum_h8" vertex="0.0365874992 -0.0035 -0.0304502812 0.0365874992 0.0035 -0.0304502812 0.0396049758 -0.0035 -0.0329616037 0.0396049758 0.0035 -0.0329616037 0.0409505273 -0.0035 -0.0312742025 0.0409505273 0.0035 -0.0312742025 0.037830534 -0.0035 -0.028891442 0.037830534 0.0035 -0.028891442"/><mesh name="pendulum_h9" vertex="0.037830534 -0.0035 -0.028891442 0.037830534 0.0035 -0.028891442 0.0409505273 -0.0035 -0.0312742025 0.0409505273 0.0035 -0.0312742025 0.0422242372 -0.0035 -0.0295319355 0.0422242372 0.0035 -0.0295319355 0.0390072009 -0.0035 -0.0272819171 0.0390072009 0.0035 -0.0272819171"/><mesh name="pendulum_h10" vertex="0.0390072009 -0.0035 -0.0272819171 0.0390072009 0.0035 -0.0272819171 0.0422242372 -0.0035 -0.0295319355 0.0422242372 0.0035 -0.0295319355 0.0434238712 -0.0035 -0.0277378592 0.0434238712 0.0035 -0.0277378592 0.0401154356 -0.0035 -0.0256245302 0.0401154356 0.0035 -0.0256245302"/><mesh name="pendulum_h11" vertex="0.0342591 -0.0035 -0.0330482 0.0342591 0.0035 -0.0330482 0.0339111 -0.0035 -0.0334051 0.0339111 0.0035 -0.0334051 0.0350957 -0.0035 -0.0377269 0.0350957 0.0035 -0.0377269 0.0370845 -0.0035 -0.0357738 0.0370845 0.0035 -0.0357738"/></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 0.0000219184595 0" mass="0.1218312699" fullinertia="0.00007844921611 0.0001562938603 0.00007844921611 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"/><geom name="wheel_h5" type="mesh" mesh="wheel_h5" 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_h6" type="mesh" mesh="wheel_h6" 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_h7" type="mesh" mesh="wheel_h7" 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_h8" type="mesh" mesh="wheel_h8" 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_h9" type="mesh" mesh="wheel_h9" 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_h10" type="mesh" mesh="wheel_h10" 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_h11" type="mesh" mesh="wheel_h11" 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_h12" type="mesh" mesh="wheel_h12" 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_h13" type="mesh" mesh="wheel_h13" 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_h14" type="mesh" mesh="wheel_h14" 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_h15" type="mesh" mesh="wheel_h15" 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_h16" type="mesh" mesh="wheel_h16" 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_h17" type="mesh" mesh="wheel_h17" 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_h18" type="mesh" mesh="wheel_h18" 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_h19" type="mesh" mesh="wheel_h19" 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_h20" type="mesh" mesh="wheel_h20" 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_h21" type="mesh" mesh="wheel_h21" 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_h22" type="mesh" mesh="wheel_h22" 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_h23" type="mesh" mesh="wheel_h23" 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_h24" type="mesh" mesh="wheel_h24" 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_h25" type="mesh" mesh="wheel_h25" 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_h26" type="mesh" mesh="wheel_h26" 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_h27" type="mesh" mesh="wheel_h27" 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_h28" type="mesh" mesh="wheel_h28" 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_h29" type="mesh" mesh="wheel_h29" 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 0.0707107"><joint name="j_pend" type="hinge" axis="0 1 0" damping="0.0015" frictionloss="0"/><inertial pos="-0.00008577806412 -0.007307589846 -0.1371245354" mass="0.1644089256" fullinertia="0.001237608026 0.001266903614 0.00003835949439 1.030565965e-7 0.000001452519704 -0.00005392775689"/><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"/><geom name="pendulum_h2" type="mesh" mesh="pendulum_h2" 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_h3" type="mesh" mesh="pendulum_h3" 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_h4" type="mesh" mesh="pendulum_h4" 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_h5" type="mesh" mesh="pendulum_h5" 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_h6" type="mesh" mesh="pendulum_h6" 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_h7" type="mesh" mesh="pendulum_h7" 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_h8" type="mesh" mesh="pendulum_h8" 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_h9" type="mesh" mesh="pendulum_h9" 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_h10" type="mesh" mesh="pendulum_h10" 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_h11" type="mesh" mesh="pendulum_h11" 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="cock" pos="0 0 0.0707107"></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>
