<mujoco model="254-sprocket-wheel-and-chain">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="100" cone="elliptic" impratio="10" solver="PGS" gravity="0 0 -9.81"><flag multiccd="enable"/></option>
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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<contact><exclude body1="L29" body2="L0"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
