<mujoco model="160-treadle-spring-band-pulley">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_p" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.15" diaginertia="0.0000531375 0.0000735 0.0000531375"/><geom name="wheel_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.035" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="wheel_flangeL" type="cylinder" fromto="0 -0.012 0 0 -0.0156 0" size="0.04" contype="1" conaffinity="2" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="wheel_flangeR" type="cylinder" fromto="0 0.012 0 0 0.0156 0" size="0.04" contype="1" conaffinity="2" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="treadle" pos="-0.082 0 -0.22"><joint name="j_t" type="hinge" axis="0 1 0" damping="0.0002" frictionloss="0"/><inertial pos="0.1125466322 -0.001465173781 0" mass="0.3" fullinertia="0.00002227409185 0.00149677772 0.001489825966 0.00002855039146 0 0"/></body>
<body name="spring" pos="-0.038 0 -0.08"><joint name="j_s" type="slide" axis="0 0 1" damping="0.3" frictionloss="0" range="-0.06 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="-0.12"/><inertial pos="0 0 0" mass="0.05" fullinertia="0.000001483333333 0.000002416666667 0.000001766666667 0 0 0"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="band_l000" pos="0.038 0 -0.22" quat="0.5764344744 0 -0.8171433758 0">
<freejoint name="band_root"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l000_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l001" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l001_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l001_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l002" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l002_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l002_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l003" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l003_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l003_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l004" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l004_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l004_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l005" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l005_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l005_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l006" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l006_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l006_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l007" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l007_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l007_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l008" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l008_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l008_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l009" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l009_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l009_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l010" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l010_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l010_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l011" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l011_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l011_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l012" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l012_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l012_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l013" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l013_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l013_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l014" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l014_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l014_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l015" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l015_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l015_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l016" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l016_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l016_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l017" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l017_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l017_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l018" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l018_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l018_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l019" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l019_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l019_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l020" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l020_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l020_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l021" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l021_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l021_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l022" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l022_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l022_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l023" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l023_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l023_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l024" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l024_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l024_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l025" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l025_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l025_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l026" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l026_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l026_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="band_l057" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l057_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l057_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l058" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l058_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l058_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l059" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l059_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l059_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l060" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l060_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l060_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l061" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l061_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l061_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l062" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l062_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l062_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l063" pos="0.007262992826 0 0" quat="1 0 0 0"><joint name="band_l063_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="band_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.003631496413 0 0" mass="0.0002873437353" diaginertia="1.293046809e-9 1.909664071e-9 1.909664071e-9"/><geom name="band_l063_c" type="capsule" fromto="0 0 0 0.007262992826 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.001 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="band_eyeA" body1="band_l000" body2="treadle" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_eyeB" body1="band_l063" body2="spring" anchor="0.007262992826 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="band_l000" body2="treadle"/><exclude body1="band_l063" body2="spring"/></contact>
<actuator><velocity name="drive" joint="j_t" kv="60" forcerange="-30 30"/></actuator>
</mujoco>
