<mujoco model="242-crane-band-brake">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="wheel" pos="0 0 0"><joint name="j_wheel" type="hinge" axis="0 -1 0" damping="0.2" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004146 0.00648 0.004146"/><geom name="wheel_rim" condim="3" type="capsule" fromto="0 -0.012 0 0 0.012 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="lever" pos="0.138 0 -0.0205"><joint name="j_lever" type="hinge" axis="0 -1 0" damping="8" frictionloss="0" range="-0.35 0.3" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="150" springref="0.25"/><inertial pos="0.009610246264 -0.01733309432 0.005435798901" mass="0.09364247466" fullinertia="0.00001147611064 0.0001106541669 0.0001041860824 0.000005558516316 -0.000006635597334 -4.392775778e-7"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="strap_l000" pos="0.109 0 -0.029" quat="0.3547010042 0 0.9349797846 0">
<freejoint name="strap_root"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l000_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l001" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l001_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l002" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l002_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l003" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l003_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l004" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l004_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l005" pos="0.01202806223 0 0" quat="0.9997716776 0 0.02136802891 0"><joint name="strap_l005_s" type="slide" axis="0.9990868147 0 0.04272630022" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006010564624 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066337244e-8 1.066337244e-8"/><geom name="strap_l005_c" type="capsule" fromto="0 0 0 0.01202112925 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l006" pos="0.01202112925 0 0" quat="0.998021755 0 0.06286952045 0"><joint name="strap_l006_s" type="slide" axis="0.9920948468 0 0.1254902983" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928178 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167735e-8 1.066167735e-8"/><geom name="strap_l006_c" type="capsule" fromto="0 0 0 0.01201985636 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l007" pos="0.01201985636 0 0" quat="0.9979539581 0 0.06393666839 0"><joint name="strap_l007_s" type="slide" axis="0.9918242049 0 0.1276117026" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009926 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167155e-8 1.066167155e-8"/><geom name="strap_l007_c" type="capsule" fromto="0 0 0 0.012019852 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l008" pos="0.012019852 0 0" quat="0.9979542074 0 0.063932776 0"><joint name="strap_l008_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009924969 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166881e-8 1.066166881e-8"/><geom name="strap_l008_c" type="capsule" fromto="0 0 0 0.01201984994 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l009" pos="0.01201984994 0 0" quat="0.9979542074 0 0.06393277614 0"><joint name="strap_l009_s" type="slide" axis="0.9918252003 0 0.1276039659" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928103 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167715e-8 1.066167715e-8"/><geom name="strap_l009_c" type="capsule" fromto="0 0 0 0.01201985621 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l010" pos="0.01201985621 0 0" quat="0.9979536386 0 0.06394165465 0"><joint name="strap_l010_s" type="slide" axis="0.9918229296 0 0.1276216138" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928471 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167813e-8 1.066167813e-8"/><geom name="strap_l010_c" type="capsule" fromto="0 0 0 0.01201985694 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l011" pos="0.01201985694 0 0" quat="0.9979541434 0 0.06393377497 0"><joint name="strap_l011_s" type="slide" axis="0.9918249448 0 0.1276059513" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925267 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616696e-8 1.06616696e-8"/><geom name="strap_l011_c" type="capsule" fromto="0 0 0 0.01201985053 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l012" pos="0.01201985053 0 0" quat="0.9979542074 0 0.06393277598 0"><joint name="strap_l012_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925456 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616701e-8 1.06616701e-8"/><geom name="strap_l012_c" type="capsule" fromto="0 0 0 0.01201985091 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l013" pos="0.01201985091 0 0" quat="0.9979540861 0 0.06393467084 0"><joint name="strap_l013_s" type="slide" axis="0.9918247157 0 0.127607732" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928344 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167779e-8 1.066167779e-8"/><geom name="strap_l013_c" type="capsule" fromto="0 0 0 0.01201985669 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l014" pos="0.01201985669 0 0" quat="0.997953696 0 0.06394075882 0"><joint name="strap_l014_s" type="slide" axis="0.9918231587 0 0.1276198332" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009927647 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167594e-8 1.066167594e-8"/><geom name="strap_l014_c" type="capsule" fromto="0 0 0 0.01201985529 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l015" pos="0.01201985529 0 0" quat="0.9979542074 0 0.0639327761 0"><joint name="strap_l015_s" type="slide" axis="0.9918252003 0 0.1276039658" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009924891 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616686e-8 1.06616686e-8"/><geom name="strap_l015_c" type="capsule" fromto="0 0 0 0.01201984978 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l016" pos="0.01201984978 0 0" quat="0.9979542074 0 0.06393277601 0"><joint name="strap_l016_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.0060099263 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167235e-8 1.066167235e-8"/><geom name="strap_l016_c" type="capsule" fromto="0 0 0 0.0120198526 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l017" pos="0.0120198526 0 0" quat="0.9979539007 0 0.06393756423 0"><joint name="strap_l017_s" type="slide" axis="0.9918239758 0 0.1276134833" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928156 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167729e-8 1.066167729e-8"/><geom name="strap_l017_c" type="capsule" fromto="0 0 0 0.01201985631 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l018" pos="0.01201985631 0 0" quat="0.9979538814 0 0.06393786547 0"><joint name="strap_l018_s" type="slide" axis="0.9918238987 0 0.127614082" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009926408 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167264e-8 1.066167264e-8"/><geom name="strap_l018_c" type="capsule" fromto="0 0 0 0.01201985282 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l019" pos="0.01201985282 0 0" quat="0.9979542074 0 0.06393277602 0"><joint name="strap_l019_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009924872 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166855e-8 1.066166855e-8"/><geom name="strap_l019_c" type="capsule" fromto="0 0 0 0.01201984974 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l020" pos="0.01201984974 0 0" quat="0.9979542074 0 0.06393277609 0"><joint name="strap_l020_s" type="slide" axis="0.9918252003 0 0.1276039658" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009927501 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167555e-8 1.066167555e-8"/><geom name="strap_l020_c" type="capsule" fromto="0 0 0 0.012019855 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l021" pos="0.012019855 0 0" quat="0.9979537153 0 0.06394045759 0"><joint name="strap_l021_s" type="slide" axis="0.9918232358 0 0.1276192344" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928308 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616777e-8 1.06616777e-8"/><geom name="strap_l021_c" type="capsule" fromto="0 0 0 0.01201985662 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l022" pos="0.01201985662 0 0" quat="0.9979540668 0 0.06393497207 0"><joint name="strap_l022_s" type="slide" axis="0.9918246387 0 0.1276083308" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925527 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167029e-8 1.066167029e-8"/><geom name="strap_l022_c" type="capsule" fromto="0 0 0 0.01201985105 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l023" pos="0.01201985105 0 0" quat="0.9979542074 0 0.06393277598 0"><joint name="strap_l023_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925211 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166945e-8 1.066166945e-8"/><geom name="strap_l023_c" type="capsule" fromto="0 0 0 0.01201985042 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l024" pos="0.01201985042 0 0" quat="0.9979541627 0 0.06393347374 0"><joint name="strap_l024_s" type="slide" axis="0.9918250219 0 0.1276053525" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928521 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167827e-8 1.066167827e-8"/><geom name="strap_l024_c" type="capsule" fromto="0 0 0 0.01201985704 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l025" pos="0.01201985704 0 0" quat="0.9979536193 0 0.06394195587 0"><joint name="strap_l025_s" type="slide" axis="0.9918228526 0 0.1276222126" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928264 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167758e-8 1.066167758e-8"/><geom name="strap_l025_c" type="capsule" fromto="0 0 0 0.01201985653 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l026" pos="0.01201985653 0 0" quat="0.9979542074 0 0.06393277615 0"><joint name="strap_l026_s" type="slide" axis="0.9918252003 0 0.1276039659" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925003 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616689e-8 1.06616689e-8"/><geom name="strap_l026_c" type="capsule" fromto="0 0 0 0.01201985001 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l027" pos="0.01201985001 0 0" quat="0.9979542074 0 0.06393277599 0"><joint name="strap_l027_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925907 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167131e-8 1.066167131e-8"/><geom name="strap_l027_c" type="capsule" fromto="0 0 0 0.01201985181 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l028" pos="0.01201985181 0 0" quat="0.9979539774 0 0.06393636715 0"><joint name="strap_l028_s" type="slide" axis="0.9918242819 0 0.1276111038" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928192 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167739e-8 1.066167739e-8"/><geom name="strap_l028_c" type="capsule" fromto="0 0 0 0.01201985638 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l029" pos="0.01201985638 0 0" quat="0.9979538047 0 0.06393906254 0"><joint name="strap_l029_s" type="slide" axis="0.9918235926 0 0.1276164615" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009926877 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167389e-8 1.066167389e-8"/><geom name="strap_l029_c" type="capsule" fromto="0 0 0 0.01201985375 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l030" pos="0.01201985375 0 0" quat="0.9979542074 0 0.06393277605 0"><joint name="strap_l030_s" type="slide" axis="0.9918252003 0 0.1276039657" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009924836 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166845e-8 1.066166845e-8"/><geom name="strap_l030_c" type="capsule" fromto="0 0 0 0.01201984967 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l031" pos="0.01201984967 0 0" quat="0.9979542074 0 0.06393277605 0"><joint name="strap_l031_s" type="slide" axis="0.9918252003 0 0.1276039657" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009926961 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167411e-8 1.066167411e-8"/><geom name="strap_l031_c" type="capsule" fromto="0 0 0 0.01201985392 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l032" pos="0.01201985392 0 0" quat="0.997953792 0 0.06393926052 0"><joint name="strap_l032_s" type="slide" axis="0.9918235419 0 0.127616855" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928204 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167742e-8 1.066167742e-8"/><geom name="strap_l032_c" type="capsule" fromto="0 0 0 0.01201985641 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l033" pos="0.01201985641 0 0" quat="0.9979539901 0 0.06393616917 0"><joint name="strap_l033_s" type="slide" axis="0.9918243325 0 0.1276107103" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925848 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167115e-8 1.066167115e-8"/><geom name="strap_l033_c" type="capsule" fromto="0 0 0 0.0120198517 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l034" pos="0.0120198517 0 0" quat="0.9979542074 0 0.06393277599 0"><joint name="strap_l034_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925027 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166896e-8 1.066166896e-8"/><geom name="strap_l034_c" type="capsule" fromto="0 0 0 0.01201985005 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l035" pos="0.01201985005 0 0" quat="0.9979542074 0 0.06393277616 0"><joint name="strap_l035_s" type="slide" axis="0.9918252003 0 0.1276039659" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928372 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167787e-8 1.066167787e-8"/><geom name="strap_l035_c" type="capsule" fromto="0 0 0 0.01201985674 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l036" pos="0.01201985674 0 0" quat="0.9979536066 0 0.06394215385 0"><joint name="strap_l036_s" type="slide" axis="0.9918228019 0 0.1276226061" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928556 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167836e-8 1.066167836e-8"/><geom name="strap_l036_c" type="capsule" fromto="0 0 0 0.01201985711 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l037" pos="0.01201985711 0 0" quat="0.9979541754 0 0.06393327575 0"><joint name="strap_l037_s" type="slide" axis="0.9918250725 0 0.127604959" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925176 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166936e-8 1.066166936e-8"/><geom name="strap_l037_c" type="capsule" fromto="0 0 0 0.01201985035 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l038" pos="0.01201985035 0 0" quat="0.9979542074 0 0.06393277598 0"><joint name="strap_l038_s" type="slide" axis="0.9918252003 0 0.1276039656" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009925576 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167042e-8 1.066167042e-8"/><geom name="strap_l038_c" type="capsule" fromto="0 0 0 0.01201985115 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l039" pos="0.01201985115 0 0" quat="0.9979540541 0 0.06393517006 0"><joint name="strap_l039_s" type="slide" axis="0.9918245881 0 0.1276087243" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009928287 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066167764e-8 1.066167764e-8"/><geom name="strap_l039_c" type="capsule" fromto="0 0 0 0.01201985657 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l040" pos="0.01201985657 0 0" quat="0.997953728 0 0.06394025961 0"><joint name="strap_l040_s" type="slide" axis="0.9918232864 0 0.1276188409" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009927408 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.06616753e-8 1.06616753e-8"/><geom name="strap_l040_c" type="capsule" fromto="0 0 0 0.01201985482 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l041" pos="0.01201985482 0 0" quat="0.9979542074 0 0.06393277609 0"><joint name="strap_l041_s" type="slide" axis="0.9918252003 0 0.1276039658" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006009924862 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066166852e-8 1.066166852e-8"/><geom name="strap_l041_c" type="capsule" fromto="0 0 0 0.01201984972 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l042" pos="0.01201984972 0 0" quat="0.9983219355 0 0.05790779788 0"><joint name="strap_l042_s" type="slide" axis="0.9932933739 0 0.1156212497" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006012319696 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.066804775e-8 1.066804775e-8"/><geom name="strap_l042_c" type="capsule" fromto="0 0 0 0.01202463939 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l043" pos="0.01202463939 0 0" quat="0.9999475812 0 0.01023888772 0"><joint name="strap_l043_s" type="slide" axis="0.9997903304 0 0.02047670201" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l043_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l044" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l044_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l044_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l045" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l045_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l045_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l046" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l046_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l046_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="strap_l047" pos="0.01202806223 0 0" quat="1 0 0 0"><joint name="strap_l047_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0000125" damping="8"/><joint name="strap_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006014031115 0 0" mass="0.0006647036456" diaginertia="5.317629164e-9 1.067260808e-8 1.067260808e-8"/><geom name="strap_l047_c" type="capsule" fromto="0 0 0 0.01202806223 0 0" size="0.004" contype="2" conaffinity="0" friction="0.4 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" 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>
</worldbody>
<equality><connect name="strap_eyeA" body1="strap_l000" body2="lever" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="strap_eyeB" body1="strap_l047" body2="lever" anchor="0.01202806223 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="strap_l000" body2="lever"/><exclude body1="strap_l047" body2="lever"/></contact>
<actuator><motor name="drive" joint="j_wheel" gear="1" ctrlrange="-1.2 1.2"/></actuator>
</mujoco>
