<mujoco model="201-irregular-gear-arm-rod">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<size memory="64M"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_gear" kv="3" forcerange="-10 10"/></actuator>
</mujoco>
