<mujoco model="305-single-pin-escapement">
<compiler angle="radian" autolimits="true"/>
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<worldbody>
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<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

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