<mujoco model="314-lever-chronometer-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
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<size memory="64M"/>
<worldbody>
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<body name="balance" pos="0.0436824 0 -0.008491"><joint name="j_bal" type="hinge" axis="0 1 0" damping="0.000003" frictionloss="0" stiffness="0.0028" springref="-2"/><inertial pos="0.00007062232874 0.008700032627 0.00004729596722" mass="0.1" fullinertia="0.00003712861639 0.00007334065187 0.0000371857321 4.855033725e-8 -5.424894579e-8 3.623394134e-8"/><geom name="balance_h0" type="mesh" mesh="balance_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="balance_h1" type="mesh" mesh="balance_h1" contype="8" conaffinity="16" condim="3" friction="0.1 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="plate" 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_wheel" gear="1" ctrlrange="-0.05 0.05"/></actuator>
</mujoco>
