<mujoco model="159-treadle-cord-pulley-flywheel">
<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>
<size memory="64M"/>
<worldbody>
<body name="disk" pos="0 0 0"><joint name="j_d" type="hinge" axis="0 1 0" damping="0.006" frictionloss="0"/><inertial pos="-0.0001030035501 0.00007822826581 0.00003987352966" mass="3.304513292" fullinertia="0.006522417618 0.01288139159 0.006532102549 -0.000007472236669 0.000004409962285 0.000002892564868"/><site name="cord_a" pos="-0.033572 -0.022 0.012996" size="0.007"/></body>
<body name="treadle" pos="0.31 0 -0.11"><joint name="j_t" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.6 0.6" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.1632410442 -0.0001803122535 -0.02585474017" mass="0.15" fullinertia="0.00006086769751 0.002007095486 0.001963035787 -1.261993495e-7 -0.0003090247749 -1.999464096e-8"/><site name="cord_b" pos="-0.167907 -0.022 -0.026594" size="0.007"/></body>
<body name="frame" pos="0 0 0"></body>
<geom name="cord_over" type="cylinder" fromto="0.1 -0.032 0.155 0.1 -0.012 0.155" size="0.04" contype="0" conaffinity="0" group="3" mass="0"/><site name="cord_side" pos="0.1 -0.022 0.225" size="0.007"/>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<tendon><spatial name="cord" limited="true" range="0 0.5861438073" width="0.0035" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"><site site="cord_a"/><geom geom="cord_over" sidesite="cord_side"/><site site="cord_b"/></spatial></tendon>
<actuator><motor name="foot1" joint="j_t" gear="1" ctrlrange="0 3"/></actuator>
</mujoco>
