<mujoco model="228-another-chain-and-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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type="capsule" fromto="0 -0.01 0 0 0.01 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"/><body name="L11" pos="-0.007417 0 0.022825"><joint name="j_L11" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="-0.006852685771 0 0.004978926564" mass="0.02" fullinertia="0.000002114338825 0.000001333781333 0.000002498652484 0 5.914590046e-7 0"/><geom name="L11_h0" type="capsule" fromto="0 -0.01 0 -0.019416 -0.01 0.014107" 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="L11_h1" type="capsule" fromto="0 0.01 0 -0.019416 0.01 0.014107" 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="L11_h2" type="capsule" fromto="0 -0.01 0 0 0.01 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name="L15" pos="-0.007417 0 -0.022825"><joint name="j_L15" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 -0.008470588235" mass="0.02" fullinertia="0.000002928414072 0.000001333806228 0.000001684607843 0 0 0"/><geom name="L15_h0" type="capsule" fromto="0 -0.01 0 0 -0.01 -0.024" 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="L15_h1" type="capsule" fromto="0 0.01 0 0 0.01 -0.024" 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="L15_h2" type="capsule" fromto="0 -0.01 0 0 0.01 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"/><body name="L16" pos="0 0 -0.024"><joint name="j_L16" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 -0.008470588235" mass="0.02" fullinertia="0.000002928414072 0.000001333806228 0.000001684607843 0 0 0"/><geom name="L16_h0" type="capsule" fromto="0 -0.01 0 0 -0.01 -0.024" 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="L16_h1" type="capsule" fromto="0 0.01 0 0 0.01 -0.024" 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="L16_h2" type="capsule" fromto="0 -0.01 0 0 0.01 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"/><body name="L17" pos="0 0 -0.024"><joint name="j_L17" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 -0.008470588235" mass="0.02" fullinertia="0.000002928414072 0.000001333806228 0.000001684607843 0 0 0"/><geom name="L17_h0" type="capsule" fromto="0 -0.01 0 0 -0.01 -0.024" 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="L17_h1" type="capsule" fromto="0 0.01 0 0 0.01 -0.024" 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="L17_h2" type="capsule" fromto="0 -0.01 0 0 0.01 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"/><body name="L18" pos="0 0 -0.024"><joint name="j_L18" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 -0.012" mass="0.02" fullinertia="0.000003271666667 0.000001898181818 0.000001463484848 0 0 0"/><geom name="L18_h0" 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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>
