<mujoco model="396-reed-escapement">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
<asset><mesh name="wheel_h0" vertex="0.0255655 -0.0015 0.0156973 0.0255655 0.0015 0.0156973 0.0153583 -0.0015 0.0143221 0.0153583 0.0015 0.0143221 0.0130585 -0.0015 0.0164462 0.0130585 0.0015 0.0164462 0.024002 -0.0015 0.0159167 0.024002 0.0015 0.0159167"/><mesh name="wheel_h1" vertex="0.0169706 -0.0015 0.0247386 0.0169706 0.0015 0.0247386 0.0082052 -0.0015 0.0193307 0.0082052 0.0015 0.0193307 0.0052402 -0.0015 0.0203357 0.0052402 0.0015 0.0203357 0.015453 -0.0015 0.0243032 0.015453 0.0015 0.0243032"/><mesh name="wheel_h2" vertex="0.0054413 -0.0015 0.0295024 0.0054413 0.0015 0.0295024 -0.0003666 -0.0015 0.0209968 -0.0003666 0.0015 0.0209968 -0.0034841 -0.0015 0.020709 -0.0034841 0.0015 0.020709 0.0042321 -0.0015 0.0284874 0.0042321 0.0015 0.0284874"/><mesh name="wheel_h3" vertex="-0.0070288 -0.0015 0.029165 -0.0070288 0.0015 0.029165 -0.0088751 -0.0015 0.0190324 -0.0088751 0.0015 0.0190324 -0.011606 -0.0015 0.0175015 -0.011606 0.0015 0.0175015 -0.0077207 -0.0015 0.0277458 -0.0077207 0.0015 0.0277458"/><mesh name="wheel_h4" vertex="-0.0182836 -0.0015 0.0237847 -0.0182836 0.0015 0.0237847 -0.015849 -0.0015 0.0137771 -0.015849 0.0015 0.0137771 -0.0177211 -0.0015 0.0112678 -0.0177211 0.0015 0.0112678 -0.0183384 -0.0015 0.0222068 -0.0183384 0.0015 0.0222068"/><mesh name="wheel_h5" vertex="-0.026377 -0.0015 0.0142917 -0.026377 0.0015 0.0142917 -0.0200824 -0.0015 0.0061397 -0.0200824 0.0015 0.0061397 -0.020772 -0.0015 0.0030859 -0.020772 0.0015 0.0030859 -0.0257853 -0.0015 0.012828 -0.0257853 0.0015 0.012828"/><mesh name="wheel_h6" vertex="-0.0299096 -0.0015 0.0023277 -0.0299096 0.0015 0.0023277 -0.0208435 -0.0015 -0.0025594 -0.0208435 0.0015 -0.0025594 -0.0202313 -0.0015 -0.0056297 -0.0202313 0.0015 -0.0056297 -0.0287737 -0.0015 0.0012311 -0.0287737 0.0015 0.0012311"/><mesh name="wheel_h7" vertex="-0.0282705 -0.0015 -0.0100389 -0.0282705 0.0015 -0.0100389 -0.0180004 -0.0015 -0.0108159 -0.0180004 0.0015 -0.0108159 -0.0161925 -0.0015 -0.0133718 -0.0161925 0.0015 -0.0133718 -0.0267868 -0.0015 -0.0105786 -0.0267868 0.0015 -0.0105786"/><mesh name="wheel_h8" vertex="-0.0217432 -0.0015 -0.0206696 -0.0217432 0.0015 -0.0206696 -0.012045 -0.0015 -0.0172023 -0.012045 0.0015 -0.0172023 -0.0093537 -0.0015 -0.0188018 -0.0093537 0.0015 -0.0188018 -0.0201683 -0.0015 -0.0205592 -0.0201683 0.0015 -0.0205592"/><mesh name="wheel_h9" vertex="-0.0114563 -0.0015 -0.0277264 -0.0114563 0.0015 -0.0277264 -0.0040069 -0.0015 -0.0206142 -0.0040069 0.0015 -0.0206142 -0.0008977 -0.0015 -0.0209808 -0.0008977 0.0015 -0.0209808 -0.0100624 -0.0015 -0.026985 -0.0100624 0.0015 -0.026985"/><mesh name="wheel_h10" vertex="0.0008115 -0.0015 -0.029989 0.0008115 0.0015 -0.029989 0.0047241 -0.0015 -0.0204617 0.0047241 0.0015 -0.0204617 0.0077136 -0.0015 -0.019532 0.0077136 0.0015 -0.019532 0.0017833 -0.0015 -0.0287447 0.0017833 0.0015 -0.0287447"/><mesh name="wheel_h11" vertex="0.012939 -0.0015 -0.0270663 0.012939 0.0015 -0.0270663 0.0126382 -0.0015 -0.0167713 0.0126382 0.0015 -0.0167713 0.0149911 -0.0015 -0.014706 0.0149911 0.0015 -0.014706 0.0133206 -0.0015 -0.0255343 0.0133206 0.0015 -0.0255343"/><mesh name="wheel_h12" vertex="0.0228292 -0.0015 -0.0194635 0.0228292 0.0015 -0.0194635 0.0183671 -0.0015 -0.0101809 0.0183671 0.0015 -0.0101809 0.0196765 -0.0015 -0.0073372 0.0196765 0.0015 -0.0073372 0.0225548 -0.0015 -0.0179087 0.0225548 0.0015 -0.0179087"/><mesh name="wheel_h13" vertex="0.028772 -0.0015 -0.0084954 0.028772 0.0015 -0.0084954 0.0209201 -0.0015 -0.0018301 0.0209201 0.0015 -0.0018301 0.0209597 -0.0015 0.0013003 0.0209597 0.0015 0.0013003 0.0278889 -0.0015 -0.0071866 0.0278889 0.0015 -0.0071866"/><mesh name="wheel_h14" vertex="0.0297399 -0.0015 0.0039417 0.0297399 0.0015 0.0039417 0.0198558 -0.0015 0.006837 0.0198558 0.0015 0.006837 0.0186188 -0.0015 0.009713 0.0186188 0.0015 0.009713 0.0284009 -0.0015 0.0047782 0.0284009 0.0015 0.0047782"/><mesh name="anchor_h0" vertex="-0.010276 -0.0015 0.014785 -0.010276 0.0015 0.014785 -0.0096543 -0.0015 0.0137082 -0.0096543 0.0015 0.0137082 -0.0039556 -0.0015 0.0168346 -0.0039556 0.0015 0.0168346 -0.0041394 -0.0015 0.016928 -0.0041394 0.0015 0.016928"/><mesh name="anchor_h1" vertex="-0.0083624 -0.0015 -0.0189793 -0.0083624 0.0015 -0.0189793 -0.0099847 -0.0015 -0.0195169 -0.0099847 0.0015 -0.0195169 -0.0032072 -0.0015 -0.0231713 -0.0032072 0.0015 -0.0231713 -0.0034444 -0.0015 -0.0232294 -0.0034444 0.0015 -0.0232294"/><mesh name="anchor_h2" vertex="-0.0545719 0.002 -0.0108623 -0.0545719 0.004 -0.0108623 -0.0548308 0.002 -0.009081 -0.0548308 0.004 -0.009081 -0.0584658 0.002 -0.0096093 -0.0584658 0.004 -0.0096093 -0.0582069 0.002 -0.0113906 -0.0582069 0.004 -0.0113906"/><mesh name="anchor_h3" vertex="-0.0551473 0.002 -0.0069039 -0.0551473 0.004 -0.0069039 -0.0554062 0.002 -0.0051226 -0.0554062 0.004 -0.0051226 -0.0590412 0.002 -0.0056509 -0.0590412 0.004 -0.0056509 -0.0587823 0.002 -0.0074322 -0.0587823 0.004 -0.0074322"/><mesh name="balance_h0" vertex="-0.0066208 0.0015 -0.0185723 -0.0066208 0.0065 -0.0185723 -0.00664805934 0.0015 -0.0183652448 -0.00664805934 0.0065 -0.0183652448 -0.00672797968 0.0015 -0.0181723 -0.00672797968 0.0065 -0.0181723 -0.00685511458 0.0015 -0.0180066146 -0.00685511458 0.0065 -0.0180066146 -0.0070208 0.0015 -0.0178794797 -0.0070208 0.0065 -0.0178794797 -0.00721374476 0.0015 -0.0177995593 -0.00721374476 0.0065 -0.0177995593 -0.0074208 0.0015 -0.0177723 -0.0074208 0.0065 -0.0177723 -0.00762785524 0.0015 -0.0177995593 -0.00762785524 0.0065 -0.0177995593 -0.0078208 0.0015 -0.0178794797 -0.0078208 0.0065 -0.0178794797 -0.00798648542 0.0015 -0.0180066146 -0.00798648542 0.0065 -0.0180066146 -0.00811362032 0.0015 -0.0181723 -0.00811362032 0.0065 -0.0181723 -0.00819354066 0.0015 -0.0183652448 -0.00819354066 0.0065 -0.0183652448 -0.0082208 0.0015 -0.0185723 -0.0082208 0.0065 -0.0185723 -0.00819354066 0.0015 -0.0187793552 -0.00819354066 0.0065 -0.0187793552 -0.00811362032 0.0015 -0.0189723 -0.00811362032 0.0065 -0.0189723 -0.00798648542 0.0015 -0.0191379854 -0.00798648542 0.0065 -0.0191379854 -0.0078208 0.0015 -0.0192651203 -0.0078208 0.0065 -0.0192651203 -0.00762785524 0.0015 -0.0193450407 -0.00762785524 0.0065 -0.0193450407 -0.0074208 0.0015 -0.0193723 -0.0074208 0.0065 -0.0193723 -0.00721374476 0.0015 -0.0193450407 -0.00721374476 0.0065 -0.0193450407 -0.0070208 0.0015 -0.0192651203 -0.0070208 0.0065 -0.0192651203 -0.00685511458 0.0015 -0.0191379854 -0.00685511458 0.0065 -0.0191379854 -0.00672797968 0.0015 -0.0189723 -0.00672797968 0.0065 -0.0189723 -0.00664805934 0.0015 -0.0187793552 -0.00664805934 0.0065 -0.0187793552"/><mesh name="balance_h1" vertex="-0.005311 -0.0015 -0.0072996 -0.005311 0.0015 -0.0072996 -0.0084541 -0.0015 -0.0124104 -0.0084541 0.0015 -0.0124104 -0.0072616 -0.0015 -0.0131438 -0.0072616 0.0015 -0.0131438 -0.0041184 -0.0015 -0.008033 -0.0041184 0.0015 -0.008033"/></asset>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 1 0" damping="0.000003" frictionloss="0"/><inertial pos="6.711614425e-9 0 9.474707918e-9" mass="0.003" fullinertia="4.640714174e-7 9.205330377e-7 4.640716001e-7 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 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="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="anchor" pos="0.034641 0 0"><joint name="j_anchor" type="hinge" axis="0 1 0" damping="0.00001" frictionloss="0.0003" range="-0.002 0.19253" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.01108755113 0.0005834561374 -0.002315984858" mass="0.004" fullinertia="2.238905733e-7 0.000001455462597 0.000001285128418 9.663848829e-8 -1.553185118e-7 8.286415982e-9"/><geom name="anchor_h0" type="mesh" mesh="anchor_h0" 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"/><geom name="anchor_h1" type="mesh" mesh="anchor_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"/><geom name="anchor_h2" type="mesh" mesh="anchor_h2" 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"/><geom name="anchor_h3" type="mesh" mesh="anchor_h3" 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="balance" pos="-0.0443307 0 -0.0038784"><joint name="j_bal" type="hinge" axis="0 1 0" damping="0.000003" frictionloss="0" stiffness="0.0028" springref="-2"/><inertial pos="-0.0000400133369 0.008700031752 -0.00007632378702" mass="0.1" fullinertia="0.0000371963073 0.00007334062744 0.0000371180193 -2.970092405e-8 -5.186228872e-8 -5.35720794e-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>
