<mujoco model="124-fiddle-drill">
<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="spindle" pos="0 0 0"><joint name="j_sp" 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="spindle_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="spindle_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="spindle_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="bow" pos="0 0 0"><joint name="j_b" type="slide" axis="1 0 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0.05899759277" mass="0.4" fullinertia="0.001338399621 0.006512532305 0.005180799351 0 0 0"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="string_l000" pos="-0.15 0 -0.04" quat="0.9679282884 0 -0.2512266477 0">
<freejoint name="string_root"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l000_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l001" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l001_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l001_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l002" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l002_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l002_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l003" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l003_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l003_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l004" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l004_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l004_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l005" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l005_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l005_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l006" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l006_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l006_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l007" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l007_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l007_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l008" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l008_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l008_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l009" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l009_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l009_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l010" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l010_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l010_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l011" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l011_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l011_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l012" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l012_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l012_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l013" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l013_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l013_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l014" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l014_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l014_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l015" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l015_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l015_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l016" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l016_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l016_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l017" pos="0.008432158077 0 0" quat="0.9999992318 0 0.00123954513 0"><joint name="string_l017_s" type="slide" axis="0.9999969271 0 0.002479088355" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004215976477 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.727992842e-9 2.727992842e-9"/><geom name="string_l017_c" type="capsule" fromto="0 0 0 0.008431952953 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="string_l018" pos="0.008431952953 0 0" quat="0.9974938951 0 0.07075259169 0"><joint name="string_l018_s" type="slide" axis="0.9899881415 0 0.1411505566" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004207432521 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.7199873e-9 2.7199873e-9"/><geom name="string_l018_c" type="capsule" fromto="0 0 0 0.008414865042 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="string_l019" pos="0.008414865042 0 0" quat="0.9938516747 0 0.1107196851 0"><joint name="string_l019_s" type="slide" axis="0.9754823027 0 0.2200778889" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004207432907 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.719987662e-9 2.719987662e-9"/><geom name="string_l019_c" type="capsule" fromto="0 0 0 0.008414865815 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="string_l020" pos="0.008414865815 0 0" quat="0.993851102 0 0.1107248255 0"><joint name="string_l020_s" type="slide" axis="0.975480026 0 0.2200879797" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00420743277 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.719987533e-9 2.719987533e-9"/><geom name="string_l020_c" type="capsule" fromto="0 0 0 0.008414865539 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="string_l021" pos="0.008414865539 0 0" quat="0.9938517926 0 0.1107186272 0"><joint name="string_l021_s" type="slide" axis="0.9754827712 0 0.2200758123" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004207433199 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.719987935e-9 2.719987935e-9"/><geom name="string_l021_c" type="capsule" fromto="0 0 0 0.008414866399 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="string_l022" pos="0.008414866399 0 0" quat="0.9956950648 0 0.09268946997 0"><joint name="string_l022_s" type="slide" axis="0.9828173243 0 0.1845808956" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004214234407 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.726359234e-9 2.726359234e-9"/><geom name="string_l022_c" type="capsule" fromto="0 0 0 0.008428468814 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="string_l023" pos="0.008428468814 0 0" quat="0.9999482342 0 0.01017491238 0"><joint name="string_l023_s" type="slide" axis="0.9997929423 0 0.02034877134" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l023_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l024" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l024_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l024_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l025" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l025_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l025_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l026" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l026_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l026_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l027" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l027_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l027_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l028" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l028_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l028_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l029" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l029_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l029_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l030" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l030_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l030_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l031" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l031_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l031_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l032" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l032_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l032_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l033" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l033_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l033_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l034" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l034_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l034_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l035" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l035_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l035_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l036" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l036_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l036_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l037" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l037_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l037_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l038" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l038_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l038_c" type="capsule" fromto="0 0 0 0.008432158077 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="string_l039" pos="0.008432158077 0 0" quat="1 0 0 0"><joint name="string_l039_s" type="slide" axis="1 0 0" stiffness="20000" springref="-0.0001" damping="2"/><joint name="string_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.004216079038 0 0" mass="0.0003337068098" diaginertia="1.501680644e-9 2.728089039e-9 2.728089039e-9"/><geom name="string_l039_c" type="capsule" fromto="0 0 0 0.008432158077 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>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="string_eyeA" body1="string_l000" body2="bow" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="string_eyeB" body1="string_l039" body2="bow" anchor="0.008432158077 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="string_l000" body2="bow"/><exclude body1="string_l039" body2="bow"/></contact>
<actuator><velocity name="drive" joint="j_b" kv="60000" forcerange="-600 600"/></actuator>
</mujoco>
