<mujoco model="307-three-legged-escapement-long-stopping-teeth">
<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="disc_h0" vertex="-0.0019202 -0.006 0.0093969 -0.0019202 -0.001 0.0093969 -0.00197131126 -0.006 0.00978512857 -0.00197131126 -0.001 0.00978512857 -0.00212116189 -0.006 0.0101469 -0.00212116189 -0.001 0.0101469 -0.00235953983 -0.006 0.0104575602 -0.00235953983 -0.001 0.0104575602 -0.0026702 -0.006 0.0106959381 -0.0026702 -0.001 0.0106959381 -0.00303197143 -0.006 0.0108457887 -0.00303197143 -0.001 0.0108457887 -0.0034202 -0.006 0.0108969 -0.0034202 -0.001 0.0108969 -0.00380842857 -0.006 0.0108457887 -0.00380842857 -0.001 0.0108457887 -0.0041702 -0.006 0.0106959381 -0.0041702 -0.001 0.0106959381 -0.00448086017 -0.006 0.0104575602 -0.00448086017 -0.001 0.0104575602 -0.00471923811 -0.006 0.0101469 -0.00471923811 -0.001 0.0101469 -0.00486908874 -0.006 0.00978512857 -0.00486908874 -0.001 0.00978512857 -0.0049202 -0.006 0.0093969 -0.0049202 -0.001 0.0093969 -0.00486908874 -0.006 0.00900867143 -0.00486908874 -0.001 0.00900867143 -0.00471923811 -0.006 0.0086469 -0.00471923811 -0.001 0.0086469 -0.00448086017 -0.006 0.00833623983 -0.00448086017 -0.001 0.00833623983 -0.0041702 -0.006 0.00809786189 -0.0041702 -0.001 0.00809786189 -0.00380842857 -0.006 0.00794801126 -0.00380842857 -0.001 0.00794801126 -0.0034202 -0.006 0.0078969 -0.0034202 -0.001 0.0078969 -0.00303197143 -0.006 0.00794801126 -0.00303197143 -0.001 0.00794801126 -0.0026702 -0.006 0.00809786189 -0.0026702 -0.001 0.00809786189 -0.00235953983 -0.006 0.00833623983 -0.00235953983 -0.001 0.00833623983 -0.00212116189 -0.006 0.0086469 -0.00212116189 -0.001 0.0086469 -0.00197131126 -0.006 0.00900867143 -0.00197131126 -0.001 0.00900867143"/><mesh name="disc_h1" vertex="0.0113481 -0.006 -0.0017365 0.0113481 -0.001 -0.0017365 0.0112969887 -0.006 -0.00134827143 0.0112969887 -0.001 -0.00134827143 0.0111471381 -0.006 -0.0009865 0.0111471381 -0.001 -0.0009865 0.0109087602 -0.006 -0.000675839828 0.0109087602 -0.001 -0.000675839828 0.0105981 -0.006 -0.000437461894 0.0105981 -0.001 -0.000437461894 0.0102363286 -0.006 -0.000287611261 0.0102363286 -0.001 -0.000287611261 0.0098481 -0.006 -0.0002365 0.0098481 -0.001 -0.0002365 0.00945987143 -0.006 -0.000287611261 0.00945987143 -0.001 -0.000287611261 0.0090981 -0.006 -0.000437461894 0.0090981 -0.001 -0.000437461894 0.00878743983 -0.006 -0.000675839828 0.00878743983 -0.001 -0.000675839828 0.00854906189 -0.006 -0.0009865 0.00854906189 -0.001 -0.0009865 0.00839921126 -0.006 -0.00134827143 0.00839921126 -0.001 -0.00134827143 0.0083481 -0.006 -0.0017365 0.0083481 -0.001 -0.0017365 0.00839921126 -0.006 -0.00212472857 0.00839921126 -0.001 -0.00212472857 0.00854906189 -0.006 -0.0024865 0.00854906189 -0.001 -0.0024865 0.00878743983 -0.006 -0.00279716017 0.00878743983 -0.001 -0.00279716017 0.0090981 -0.006 -0.00303553811 0.0090981 -0.001 -0.00303553811 0.00945987143 -0.006 -0.00318538874 0.00945987143 -0.001 -0.00318538874 0.0098481 -0.006 -0.0032365 0.0098481 -0.001 -0.0032365 0.0102363286 -0.006 -0.00318538874 0.0102363286 -0.001 -0.00318538874 0.0105981 -0.006 -0.00303553811 0.0105981 -0.001 -0.00303553811 0.0109087602 -0.006 -0.00279716017 0.0109087602 -0.001 -0.00279716017 0.0111471381 -0.006 -0.0024865 0.0111471381 -0.001 -0.0024865 0.0112969887 -0.006 -0.00212472857 0.0112969887 -0.001 -0.00212472857"/><mesh name="disc_h2" vertex="-0.0049279 -0.006 -0.0076604 -0.0049279 -0.001 -0.0076604 -0.00497901126 -0.006 -0.00727217143 -0.00497901126 -0.001 -0.00727217143 -0.00512886189 -0.006 -0.0069104 -0.00512886189 -0.001 -0.0069104 -0.00536723983 -0.006 -0.00659973983 -0.00536723983 -0.001 -0.00659973983 -0.0056779 -0.006 -0.00636136189 -0.0056779 -0.001 -0.00636136189 -0.00603967143 -0.006 -0.00621151126 -0.00603967143 -0.001 -0.00621151126 -0.0064279 -0.006 -0.0061604 -0.0064279 -0.001 -0.0061604 -0.00681612857 -0.006 -0.00621151126 -0.00681612857 -0.001 -0.00621151126 -0.0071779 -0.006 -0.00636136189 -0.0071779 -0.001 -0.00636136189 -0.00748856017 -0.006 -0.00659973983 -0.00748856017 -0.001 -0.00659973983 -0.00772693811 -0.006 -0.0069104 -0.00772693811 -0.001 -0.0069104 -0.00787678874 -0.006 -0.00727217143 -0.00787678874 -0.001 -0.00727217143 -0.0079279 -0.006 -0.0076604 -0.0079279 -0.001 -0.0076604 -0.00787678874 -0.006 -0.00804862857 -0.00787678874 -0.001 -0.00804862857 -0.00772693811 -0.006 -0.0084104 -0.00772693811 -0.001 -0.0084104 -0.00748856017 -0.006 -0.00872106017 -0.00748856017 -0.001 -0.00872106017 -0.0071779 -0.006 -0.00895943811 -0.0071779 -0.001 -0.00895943811 -0.00681612857 -0.006 -0.00910928874 -0.00681612857 -0.001 -0.00910928874 -0.0064279 -0.006 -0.0091604 -0.0064279 -0.001 -0.0091604 -0.00603967143 -0.006 -0.00910928874 -0.00603967143 -0.001 -0.00910928874 -0.0056779 -0.006 -0.00895943811 -0.0056779 -0.001 -0.00895943811 -0.00536723983 -0.006 -0.00872106017 -0.00536723983 -0.001 -0.00872106017 -0.00512886189 -0.006 -0.0084104 -0.00512886189 -0.001 -0.0084104 -0.00497901126 -0.006 -0.00804862857 -0.00497901126 -0.001 -0.00804862857"/><mesh name="pendulum_h0" vertex="0.0079279 -0.006 -0.0536392 0.0079279 -0.0015 -0.0536392 0.0101066 -0.006 -0.0532717 0.0101066 -0.0015 -0.0532717 0.0101066 -0.006 -0.0538717 0.0101066 -0.0015 -0.0538717 0.0079279 -0.006 -0.0542392 0.0079279 -0.0015 -0.0542392"/><mesh name="pendulum_h1" vertex="0.0101066 -0.006 -0.0532717 0.0101066 -0.0015 -0.0532717 0.0122853 -0.006 -0.0528118 0.0122853 -0.0015 -0.0528118 0.0122853 -0.006 -0.0534118 0.0122853 -0.0015 -0.0534118 0.0101066 -0.006 -0.0538717 0.0101066 -0.0015 -0.0538717"/><mesh name="pendulum_h2" vertex="0.0122853 -0.006 -0.0528118 0.0122853 -0.0015 -0.0528118 0.0144639 -0.006 -0.0522572 0.0144639 -0.0015 -0.0522572 0.0144639 -0.006 -0.0528572 0.0144639 -0.0015 -0.0528572 0.0122853 -0.006 -0.0534118 0.0122853 -0.0015 -0.0534118"/><mesh name="pendulum_h3" vertex="0.0144639 -0.006 -0.0522572 0.0144639 -0.0015 -0.0522572 0.0166426 -0.006 -0.0516046 0.0166426 -0.0015 -0.0516046 0.0166426 -0.006 -0.0522046 0.0166426 -0.0015 -0.0522046 0.0144639 -0.006 -0.0528572 0.0144639 -0.0015 -0.0528572"/><mesh name="pendulum_h4" vertex="0.0166426 -0.006 -0.0516046 0.0166426 -0.0015 -0.0516046 0.0188213 -0.006 -0.0508505 0.0188213 -0.0015 -0.0508505 0.0188213 -0.006 -0.0514505 0.0188213 -0.0015 -0.0514505 0.0166426 -0.006 -0.0522046 0.0166426 -0.0015 -0.0522046"/><mesh name="pendulum_h5" vertex="0.0188213 -0.006 -0.0508505 0.0188213 -0.0015 -0.0508505 0.021 -0.006 -0.0499902 0.021 -0.0015 -0.0499902 0.021 -0.006 -0.0505902 0.021 -0.0015 -0.0505902 0.0188213 -0.006 -0.0514505 0.0188213 -0.0015 -0.0514505"/><mesh name="pendulum_h6" vertex="-0.0079279 -0.006 -0.0659975 -0.0079279 -0.0015 -0.0659975 -0.0079279 -0.006 -0.0653975 -0.0079279 -0.0015 -0.0653975 -0.0101066 -0.006 -0.0650992 -0.0101066 -0.0015 -0.0650992 -0.0101066 -0.006 -0.0656992 -0.0101066 -0.0015 -0.0656992"/><mesh name="pendulum_h7" vertex="-0.0101066 -0.006 -0.0656992 -0.0101066 -0.0015 -0.0656992 -0.0101066 -0.006 -0.0650992 -0.0101066 -0.0015 -0.0650992 -0.0122853 -0.006 -0.0647268 -0.0122853 -0.0015 -0.0647268 -0.0122853 -0.006 -0.0653268 -0.0122853 -0.0015 -0.0653268"/><mesh name="pendulum_h8" vertex="-0.0122853 -0.006 -0.0653268 -0.0122853 -0.0015 -0.0653268 -0.0122853 -0.006 -0.0647268 -0.0122853 -0.0015 -0.0647268 -0.0144639 -0.006 -0.0642792 -0.0144639 -0.0015 -0.0642792 -0.0144639 -0.006 -0.0648792 -0.0144639 -0.0015 -0.0648792"/><mesh name="pendulum_h9" vertex="-0.0144639 -0.006 -0.0648792 -0.0144639 -0.0015 -0.0648792 -0.0144639 -0.006 -0.0642792 -0.0144639 -0.0015 -0.0642792 -0.0166426 -0.006 -0.0637548 -0.0166426 -0.0015 -0.0637548 -0.0166426 -0.006 -0.0643548 -0.0166426 -0.0015 -0.0643548"/><mesh name="pendulum_h10" vertex="-0.0166426 -0.006 -0.0643548 -0.0166426 -0.0015 -0.0643548 -0.0166426 -0.006 -0.0637548 -0.0166426 -0.0015 -0.0637548 -0.0188213 -0.006 -0.0631517 -0.0188213 -0.0015 -0.0631517 -0.0188213 -0.006 -0.0637517 -0.0188213 -0.0015 -0.0637517"/><mesh name="pendulum_h11" vertex="-0.0188213 -0.006 -0.0637517 -0.0188213 -0.0015 -0.0637517 -0.0188213 -0.006 -0.0631517 -0.0188213 -0.0015 -0.0631517 -0.021 -0.006 -0.0624676 -0.021 -0.0015 -0.0624676 -0.021 -0.006 -0.0630676 -0.021 -0.0015 -0.0630676"/><mesh name="pendulum_h12" vertex="0.0079279 -0.006 -0.0542392 0.0079279 -0.0015 -0.0542392 0.0114279 -0.006 -0.053604 0.0114279 -0.0015 -0.053604 0.0114279 -0.006 -0.0551392 0.0114279 -0.0015 -0.0551392 0.0079279 -0.006 -0.0551392 0.0079279 -0.0015 -0.0551392"/><mesh name="pendulum_h13" vertex="-0.0079279 -0.006 -0.0644975 -0.0079279 -0.0015 -0.0644975 -0.0114279 -0.006 -0.0644975 -0.0114279 -0.0015 -0.0644975 -0.0114279 -0.006 -0.0648823 -0.0114279 -0.0015 -0.0648823 -0.0079279 -0.006 -0.0653975 -0.0079279 -0.0015 -0.0653975"/></asset>
<size memory="64M"/>
<worldbody>
<body name="disc" pos="0 0 0"><joint name="j_disc" type="hinge" axis="0 1 0" damping="0.0001" frictionloss="0"/><inertial pos="2.357752022e-9 -0.001297048972 -7.094650721e-10" mass="0.01" fullinertia="2.554695637e-7 3.731209003e-7 2.554718553e-7 0 0 0"/><geom name="disc_h0" type="mesh" mesh="disc_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="disc_h1" type="mesh" mesh="disc_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="disc_h2" type="mesh" mesh="disc_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"/></body>
<body name="pendulum" pos="0 0 0.06"><joint name="j_pend" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0.00000173227686 0.008962655571 -0.1084739257" mass="0.4185779026" fullinertia="0.000475549093 0.0005037001239 0.00004070836478 9.21785521e-9 -9.504147608e-8 0.00003469151611"/><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"/><geom name="pendulum_h12" type="mesh" mesh="pendulum_h12" 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_h13" type="mesh" mesh="pendulum_h13" 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="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_disc" gear="1" ctrlrange="-1 1"/></actuator>
</mujoco>
