<mujoco model="227-chain-and-chain-pulley">
<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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<size memory="64M"/>
<worldbody>
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type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="L12_h3" type="capsule" fromto="-0.003901 -0.007 0.019616 -0.003901 0.007 0.019616" size="0.003" contype="16" conaffinity="8" condim="3" friction="0.2 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><body name="L13" pos="-0.003901 0 0.019616"><joint name="j_L13" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.005556134513 0 0.008314430109" mass="0.02" fullinertia="0.000001125848504 0.000001971629735 9.357812309e-7 0 2.294705179e-7 0"/><body name="L14" pos="-0.011112 0 0.016629"><joint name="j_L14" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.0083145 0 0.005556" mass="0.02" fullinertia="0.000001149551607 0.000001279216171 0.000001604566603 0 5.493624612e-7 0"/><geom 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<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
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<equality></equality>

<actuator><velocity name="drive" joint="j_p" kv="20" forcerange="-20 20"/></actuator>
</mujoco>
