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<body name="band_l090" pos="0.008268353451 0 0" quat="1 0 0 0"><joint name="band_l090_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l090_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l090_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004134176726 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.827481436e-9 3.827481436e-9"/><geom name="band_l090_c" type="capsule" fromto="0 0 0 0.008268353451 0 0" size="0.004" 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_l091" pos="0.008268353451 0 0" quat="1 0 0 0"><joint name="band_l091_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l091_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l091_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004134176726 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.827481436e-9 3.827481436e-9"/><geom name="band_l091_c" type="capsule" fromto="0 0 0 0.008268353451 0 0" size="0.004" 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_l092" pos="0.008268353451 0 0" quat="1 0 0 0"><joint name="band_l092_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l092_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l092_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004134176726 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.827481436e-9 3.827481436e-9"/><geom name="band_l092_c" type="capsule" fromto="0 0 0 0.008268353451 0 0" size="0.004" 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_l093" pos="0.008268353451 0 0" quat="1 0 0 0"><joint name="band_l093_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l093_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l093_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004134176726 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.827481436e-9 3.827481436e-9"/><geom name="band_l093_c" type="capsule" fromto="0 0 0 0.008268353451 0 0" size="0.004" 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_l094" pos="0.008268353451 0 0" quat="1 0 0 0"><joint name="band_l094_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l094_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l094_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004134176726 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.827481436e-9 3.827481436e-9"/><geom name="band_l094_c" type="capsule" fromto="0 0 0 0.008268353451 0 0" size="0.004" 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_l095" pos="0.008268353451 0 0" quat="0.9996930376 0 -0.02477560458 0"><joint name="band_l095_s" type="slide" axis="0.9987723388 0 -0.0495359988" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l095_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l095_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132071432 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825191785e-9 3.825191785e-9"/><geom name="band_l095_c" type="capsule" fromto="0 0 0 0.008264142865 0 0" size="0.004" 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></body></body>
<body name="band_l096" pos="-0.0006562839972 0 0.074108059" quat="0.03231578986 0 0.9994777085 0">
<freejoint name="band_root7"/><inertial pos="0.004132031711 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148596e-9 3.825148596e-9"/><geom name="band_l096_c" type="capsule" fromto="0 0 0 0.008264063421 0 0" size="0.004" 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_l097" pos="0.008264063421 0 0" quat="0.9984445451 0 -0.05575383685 0"><joint name="band_l097_s" type="slide" axis="0.9937830194 0 -0.1113342285" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l097_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l097_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132030448 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825147224e-9 3.825147224e-9"/><geom name="band_l097_c" type="capsule" fromto="0 0 0 0.008264060897 0 0" size="0.004" 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_l098" pos="0.008264060897 0 0" quat="0.9984448119 0 -0.05574905987 0"><joint name="band_l098_s" type="slide" axis="0.9937840846 0 -0.1113247192" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l098_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l098_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132032077 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148994e-9 3.825148994e-9"/><geom name="band_l098_c" type="capsule" fromto="0 0 0 0.008264064154 0 0" size="0.004" 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_l099" pos="0.008264064154 0 0" quat="0.9984439955 0 -0.05576367877 0"><joint name="band_l099_s" type="slide" axis="0.9937808243 0 -0.1113538205" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l099_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l099_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132032161 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825149086e-9 3.825149086e-9"/><geom name="band_l099_c" type="capsule" fromto="0 0 0 0.008264064323 0 0" size="0.004" 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_l100" pos="0.008264064323 0 0" quat="0.9984447701 0 -0.05574980805 0"><joint name="band_l100_s" type="slide" axis="0.9937839178 0 -0.1113262086" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l100_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l100_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132030384 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825147153e-9 3.825147153e-9"/><geom name="band_l100_c" type="capsule" fromto="0 0 0 0.008264060767 0 0" size="0.004" 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_l101" pos="0.008264060767 0 0" quat="0.9984446287 0 -0.05575234044 0"><joint name="band_l101_s" type="slide" axis="0.9937833531 0 -0.1113312497" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l101_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l101_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132031835 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148731e-9 3.825148731e-9"/><geom name="band_l101_c" type="capsule" fromto="0 0 0 0.00826406367 0 0" size="0.004" 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_l102" pos="0.00826406367 0 0" quat="0.9984441369 0 -0.05576114633 0"><joint name="band_l102_s" type="slide" axis="0.9937813891 0 -0.1113487792" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l102_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132031458 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148322e-9 3.825148322e-9"/><geom name="band_l102_c" type="capsule" fromto="0 0 0 0.008264062917 0 0" size="0.004" 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_l103" pos="0.008264062917 0 0" quat="0.9984448119 0 -0.05574905993 0"><joint name="band_l103_s" type="slide" axis="0.9937840846 0 -0.1113247193" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l103_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132030668 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825147462e-9 3.825147462e-9"/><geom name="band_l103_c" type="capsule" fromto="0 0 0 0.008264061336 0 0" size="0.004" 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_l104" pos="0.008264061336 0 0" quat="0.9984444037 0 -0.05575636926 0"><joint name="band_l104_s" type="slide" axis="0.9937824546 0 -0.1113392697" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l104_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132031616 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148493e-9 3.825148493e-9"/><geom name="band_l104_c" type="capsule" fromto="0 0 0 0.008264063232 0 0" size="0.004" 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_l105" pos="0.008264063232 0 0" quat="0.9984443619 0 -0.05575711747 0"><joint name="band_l105_s" type="slide" axis="0.9937822877 0 -0.1113407591" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l105_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l105_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132030759 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825147562e-9 3.825147562e-9"/><geom name="band_l105_c" type="capsule" fromto="0 0 0 0.008264061519 0 0" size="0.004" 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_l106" pos="0.008264061519 0 0" quat="0.9984448119 0 -0.05574905994 0"><joint name="band_l106_s" type="slide" axis="0.9937840846 0 -0.1113247193" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l106_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l106_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132031302 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148152e-9 3.825148152e-9"/><geom name="band_l106_c" type="capsule" fromto="0 0 0 0.008264062605 0 0" size="0.004" 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_l107" pos="0.008264062605 0 0" quat="0.9984441787 0 -0.05576039811 0"><joint name="band_l107_s" type="slide" axis="0.993781556 0 -0.1113472898" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l107_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l107_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132031766 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825148657e-9 3.825148657e-9"/><geom name="band_l107_c" type="capsule" fromto="0 0 0 0.008264063533 0 0" size="0.004" 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_l108" pos="0.008264063533 0 0" quat="0.9984445869 0 -0.05575308864 0"><joint name="band_l108_s" type="slide" axis="0.9937831862 0 -0.1113327391" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l108_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l108_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00413203041 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825147182e-9 3.825147182e-9"/><geom name="band_l108_c" type="capsule" fromto="0 0 0 0.00826406082 0 0" size="0.004" 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_l109" pos="0.00826406082 0 0" quat="0.9984448119 0 -0.05574905985 0"><joint name="band_l109_s" type="slide" axis="0.9937840847 0 -0.1113247191" stiffness="30000" springref="-0.0008333333333" damping="2"/><joint name="band_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="band_l109_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.004132032286 0 0" mass="0.0003947021291" diaginertia="3.157617033e-9 3.825149221e-9 3.825149221e-9"/><geom name="band_l109_c" type="capsule" fromto="0 0 0 0.008264064572 0 0" size="0.004" 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></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_l013" body2="band_l014" anchor="0.008264063421 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin1" body1="band_l027" body2="band_l028" anchor="0.008268353451 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin2" body1="band_l040" body2="band_l041" anchor="0.008268353451 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin3" body1="band_l054" body2="band_l055" anchor="0.008258592704 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin4" body1="band_l068" body2="band_l069" anchor="0.008268353451 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin5" body1="band_l082" body2="band_l083" anchor="0.008268353451 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin6" body1="band_l095" body2="band_l096" anchor="0.008264142865 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_pin7" body1="band_l109" body2="band_l000" anchor="0.008264064572 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="band_l013" body2="band_l014"/><exclude body1="band_l027" body2="band_l028"/><exclude body1="band_l040" body2="band_l041"/><exclude body1="band_l054" body2="band_l055"/><exclude body1="band_l068" body2="band_l069"/><exclude body1="band_l082" body2="band_l083"/><exclude body1="band_l095" body2="band_l096"/><exclude body1="band_l109" body2="band_l000"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
