<mujoco model="243-horizontal-to-two-upright-shafts">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
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<body name="g_left" pos="-0.15 -0.05 0.025"><joint name="j_gl" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001358333333 0.000196 0.0001358333333"/><geom name="g_left_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.035" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_left_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.008 0" size="0.04" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_left_flangeR" type="cylinder" fromto="0 0.005 0 0 0.008 0" size="0.04" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="g_right" pos="0.15 -0.05 0.025"><joint name="j_gr" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001358333333 0.000196 0.0001358333333"/><geom name="g_right_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.035" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_right_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.008 0" size="0.04" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_right_flangeR" type="cylinder" fromto="0 0.005 0 0 0.008 0" size="0.04" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="d_left" pos="-0.29 0 0.06" quat="1 0 0 0"><joint name="j_left" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.003403968659" mass="1.516063142" fullinertia="0.003797647058 0.003797647143 0.001020900664 0 0 -1.097507463e-11"/><body name="w_left_w" pos="0 0 0" quat="0.7071068 0.7071068 0 0"><geom name="w_left_w_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="w_left_w_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.01175 0" size="0.057" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="w_left_w_flangeR" type="cylinder" fromto="0 0.005 0 0 0.01175 0" size="0.057" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="s_left" type="capsule" fromto="0 0 -0.14 0 0 0.12" size="0.009" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="d_right" pos="0.29 0 0.06" quat="1 0 0 0"><joint name="j_right" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 -0.003403968659" mass="1.516063142" fullinertia="0.003797647058 0.003797647143 0.001020900664 0 0 -1.097507463e-11"/><body name="w_right_w" pos="0 0 0" quat="0.7071068 0.7071068 0 0"><geom name="w_right_w_rim" condim="3" type="capsule" fromto="0 -0.005 0 0 0.005 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="w_right_w_flangeL" type="cylinder" fromto="0 -0.005 0 0 -0.01175 0" size="0.057" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="w_right_w_flangeR" type="cylinder" fromto="0 0.005 0 0 0.01175 0" size="0.057" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="s_right" type="capsule" fromto="0 0 -0.14 0 0 0.12" size="0.009" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="band_l000" pos="0.04901630014 -0.05 -0.03957780085" quat="0.3949998676 0 0.9186811768 0">
<joint name="band_root0" type="free" damping="0.0001"/><inertial pos="0.004996609112 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839359709e-9 2.839359709e-9"/><geom name="band_l000_c" type="capsule" fromto="0 0 0 0.009993218223 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l001" pos="0.009993218223 0 0" quat="0.9968499668 0 0.07931042637 0"><joint name="band_l001_s" type="slide" axis="0.9874197125 0 0.1581211918" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l001_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996606459 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839357336e-9 2.839357336e-9"/><geom name="band_l001_c" type="capsule" fromto="0 0 0 0.009993212918 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l002" pos="0.009993212918 0 0" quat="0.9968499668 0 0.07931042616 0"><joint name="band_l002_s" type="slide" axis="0.9874197126 0 0.1581211914" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l002_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00499660518 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839356191e-9 2.839356191e-9"/><geom name="band_l002_c" type="capsule" fromto="0 0 0 0.00999321036 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l003" pos="0.00999321036 0 0" quat="0.9968499668 0 0.0793104261 0"><joint name="band_l003_s" type="slide" axis="0.9874197126 0 0.1581211913" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l003_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996605274 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839356276e-9 2.839356276e-9"/><geom name="band_l003_c" type="capsule" fromto="0 0 0 0.009993210549 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l004" pos="0.009993210549 0 0" quat="0.9968499668 0 0.07931042618 0"><joint name="band_l004_s" type="slide" axis="0.9874197126 0 0.1581211914" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l004_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996606743 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.83935759e-9 2.83935759e-9"/><geom name="band_l004_c" type="capsule" fromto="0 0 0 0.009993213486 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l005" pos="0.009993213486 0 0" quat="0.9968499117 0 0.07931111819 0"><joint name="band_l005_s" type="slide" axis="0.9874194931 0 0.1581225623" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l005_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996609033 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839359639e-9 2.839359639e-9"/><geom name="band_l005_c" type="capsule" fromto="0 0 0 0.009993218066 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l006" pos="0.009993218066 0 0" quat="0.9968496228 0 0.0793147501 0"><joint name="band_l006_s" type="slide" axis="0.9874183408 0 0.1581297574" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l006_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996608664 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839359309e-9 2.839359309e-9"/><geom name="band_l006_c" type="capsule" fromto="0 0 0 0.009993217328 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l007" pos="0.009993217328 0 0" quat="0.9968499668 0 0.07931042633 0"><joint name="band_l007_s" type="slide" axis="0.9874197126 0 0.1581211917" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l007_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996606201 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839357105e-9 2.839357105e-9"/><geom name="band_l007_c" type="capsule" fromto="0 0 0 0.009993212401 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l008" pos="0.009993212401 0 0" quat="0.9968499668 0 0.07931042615 0"><joint name="band_l008_s" type="slide" axis="0.9874197126 0 0.1581211913" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l008_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996605111 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.83935613e-9 2.83935613e-9"/><geom name="band_l008_c" type="capsule" fromto="0 0 0 0.009993210222 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l009" pos="0.009993210222 0 0" quat="0.9968499668 0 0.0793104261 0"><joint name="band_l009_s" type="slide" axis="0.9874197126 0 0.1581211913" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l009_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004996605395 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839356384e-9 2.839356384e-9"/><geom name="band_l009_c" type="capsule" fromto="0 0 0 0.009993210791 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<body name="band_l010" pos="-0.04040996812 -0.05 -0.04833246054" quat="-0.3782225021 0 0.9257147179 0">
<joint name="band_root1" type="free" damping="0.0001"/><inertial pos="0.004996607053 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.839357868e-9 2.839357868e-9"/><geom name="band_l010_c" type="capsule" fromto="0 0 0 0.009993214107 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l011" pos="0.009993214107 0 0" quat="0.9984432579 0 0.05577688407 0"><joint name="band_l011_s" type="slide" axis="0.9937778784 0 0.1113801077" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l011_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005001652544 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.843874018e-9 2.843874018e-9"/><geom name="band_l011_c" type="capsule" fromto="0 0 0 0.01000330509 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l012" pos="0.01000330509 0 0" quat="0.9999978246 0 0.002085873985 0"><joint name="band_l012_s" type="slide" axis="0.9999912983 0 0.004171738895" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l012_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l012_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l013" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l013_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l013_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l013_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l014" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l014_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l014_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l014_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l015" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l015_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l015_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l015_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l016" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l016_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l016_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l016_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l017" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l017_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l017_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l017_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l018" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l018_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l018_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l018_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l019" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l019_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l019_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l019_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="band_l147" pos="0.009974854068 0 0" quat="0.9913495513 -0.00009214349806 -0.1312462348 0.0006959926551"><joint name="band_l147_s" type="slide" axis="0.9655478829 -0.001355757038 -0.2602219203" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l147_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l147_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004987427171 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.83115277e-9 2.83115277e-9"/><geom name="band_l147_c" type="capsule" fromto="0 0 0 0.009974854342 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l148" pos="0.009974854342 0 0" quat="0.9924564051 -0.00007771502741 -0.1225964198 0.0006291274806"><joint name="band_l148_s" type="slide" axis="0.9699394441 -0.001229708027 -0.243343302" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l148_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l148_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004994094962 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.837111028e-9 2.837111028e-9"/><geom name="band_l148_c" type="capsule" fromto="0 0 0 0.009988189924 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l149" pos="0.009988189924 0 0" quat="0.999646156 -0.000003574232849 -0.02659971388 0.0001343235549"><joint name="band_l149_s" type="slide" axis="0.9985848744 -0.0002683619035 -0.05318060442" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l149_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l149_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l149_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<body name="band_l150" pos="0.1118616015 -0.05 0.03825482471" quat="0.431148798 0.001087832461 0.9022773121 -0.00227653783">
<joint name="band_root15" type="free" damping="0.0001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l150_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l151" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l151_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l151_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l151_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l151_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l152" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l152_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l152_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l152_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l152_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l153" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l153_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l153_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l153_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l153_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l154" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l154_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l154_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l154_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l154_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l155" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l155_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l155_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l155_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l155_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l156" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l156_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l156_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l156_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l156_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l157" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l157_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l157_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l157_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l157_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l158" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l158_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l158_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l158_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l158_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l159" pos="0.01000372406 0 0" quat="1 0 0 0"><joint name="band_l159_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_l159_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="band_l159_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00500186203 0 0" mass="0.0002685726942" diaginertia="1.208577124e-9 2.844061625e-9 2.844061625e-9"/><geom name="band_l159_c" type="capsule" fromto="0 0 0 0.01000372406 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</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_pin0" body1="band_l009" body2="band_l010" anchor="0.009993210791 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin1" body1="band_l019" body2="band_l020" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin2" body1="band_l029" body2="band_l030" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin3" body1="band_l039" body2="band_l040" anchor="0.01000332481 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin4" body1="band_l049" body2="band_l050" anchor="0.009988878612 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin5" body1="band_l059" body2="band_l060" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin6" body1="band_l069" body2="band_l070" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin7" body1="band_l079" body2="band_l080" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin8" body1="band_l089" body2="band_l090" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin9" body1="band_l099" body2="band_l100" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin10" body1="band_l109" body2="band_l110" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin11" body1="band_l119" body2="band_l120" anchor="0.009988875022 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin12" body1="band_l129" body2="band_l130" anchor="0.009988876959 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin13" body1="band_l139" body2="band_l140" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin14" body1="band_l149" body2="band_l150" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin15" body1="band_l159" body2="band_l000" anchor="0.01000372406 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="band_l009" body2="band_l010"/><exclude body1="band_l019" body2="band_l020"/><exclude body1="band_l029" body2="band_l030"/><exclude body1="band_l039" body2="band_l040"/><exclude body1="band_l049" body2="band_l050"/><exclude body1="band_l059" body2="band_l060"/><exclude body1="band_l069" body2="band_l070"/><exclude body1="band_l079" body2="band_l080"/><exclude body1="band_l089" body2="band_l090"/><exclude body1="band_l099" body2="band_l100"/><exclude body1="band_l109" body2="band_l110"/><exclude body1="band_l119" body2="band_l120"/><exclude body1="band_l129" body2="band_l130"/><exclude body1="band_l139" body2="band_l140"/><exclude body1="band_l149" body2="band_l150"/><exclude body1="band_l159" body2="band_l000"/></contact>
<actuator><velocity name="drive" joint="j_main" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
