<mujoco model="361-pin-clutch-pulley">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="200" cone="elliptic" impratio="10" solver="CG" gravity="0 0 -9.81"/>
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<size memory="64M"/>
<worldbody>
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<body name="sleeve" pos="0 0 0"><joint name="j_sl" type="slide" axis="0 1 0" damping="0.5" frictionloss="0" range="-0.017 0.002" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0.0585 0" mass="0.03622366285" fullinertia="0.00001692173317 0.000001670816449 0.00001692173317 0 0 0"/><body name="pulley" pos="0 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0.04728780114 -0.0001905550791" mass="1.42515364" fullinertia="0.001970700973 0.002937827408 0.001964778176 0 0 -0.000007744458764"/><geom name="pulley_h0" type="capsule" fromto="0 0.025 -0.022 0 0.01 -0.022" size="0.0035" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pulley_h1" type="mesh" mesh="pulley_h1" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><geom name="pulley_h2" type="mesh" mesh="pulley_h2" contype="16" conaffinity="8" condim="3" friction="0.15 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
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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"/>
</worldbody>
<equality></equality>

<actuator><velocity name="drive" joint="j_s" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
