@jwz Hrm, I don't know of anything like that. Couple thoughts:
Is the pulley intended for round belts? If it's just a random hardware store v-belt pulley, there might be some extra friction to be had with a round belt one.
I wonder if the ridges on a timing belt pulley would give enough friction (without shredding the rope). I don't see any near that diameter, but we could cut ridges into a larger plain one.
I see what you mean about using an o-ring, but what about two, sized to fit side by side inside a v-belt pulley? That would leave a little groove between them that the rope could ride in.