<mujoco model="358-fusee-traverse">
<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="fusee" pos="0 0 0" quat="1 0 0 0"><joint name="j_f" type="hinge" axis="0 -1 0" damping="0.01" frictionloss="0"/><inertial pos="-0.01060525 0 -0.00531975" mass="1.2" fullinertia="0.0007126155878 0.001462733584 0.0008725679966 0 0.0002120386337 0"/><body name="v0_w" pos="0 0 0" quat="1 0 0 0"><geom name="v0_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.025" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v1_w" pos="0.008415 0 0.005403" quat="1 0 0 0"><geom name="v1_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v2_w" pos="0.01451 0 0.001614" quat="1 0 0 0"><geom name="v2_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v3_w" pos="0.018041 0 -0.006569" quat="1 0 0 0"><geom name="v3_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v4_w" pos="0.016424 0 -0.017225" quat="1 0 0 0"><geom name="v4_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v5_w" pos="0.008436 0 -0.027118" quat="1 0 0 0"><geom name="v5_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v6_w" pos="-0.005206 0 -0.032587" quat="1 0 0 0"><geom name="v6_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v7_w" pos="-0.021798 0 -0.030637" quat="1 0 0 0"><geom name="v7_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v8_w" pos="-0.037187 0 -0.019949" quat="1 0 0 0"><geom name="v8_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v9_w" pos="-0.046775 0 -0.001516" quat="1 0 0 0"><geom name="v9_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v10_w" pos="-0.046772 0 0.021315" quat="1 0 0 0"><geom name="v10_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="v11_w" pos="-0.035351 0 0.043432" quat="1 0 0 0"><geom name="v11_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="fusee_face" pos="0 0 0"><joint name="j_ff" type="hinge" axis="0 -1 0" damping="0" frictionloss="0"/><inertial pos="-0.01142420423 0.004856531195 -0.002486446963" mass="0.07921816435" fullinertia="0.0000932112042 0.0001879607867 0.0001052563398 -0.000004395182529 0.000009529641004 -9.565995173e-7"/></body>
</body>
<body name="carriage" pos="0.4 0 0"><joint name="j_c" type="slide" axis="1 0 0" damping="0.5" frictionloss="0" range="-0.3 0.05" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="20" springref="0.4"/><inertial pos="0.05995518715 -0.0005545589571 0.04431450351" mass="1" fullinertia="0.0006361645354 0.001526643636 0.001516067027 2.48513646e-8 2.54783273e-7 -0.00002235676902"/></body>
<body name="bed" pos="0 0 0"></body>
<body name="band_l000" pos="0 0 0.028" quat="0.9996071343 0 -0.02802814728 0">
<freejoint name="band_root"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l000_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l001" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l001_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l001_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l002" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l002_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l002_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l003" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l003_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l003_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l004" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l004_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l004_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l005" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l005_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l005_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l006" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l006_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l007" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l007_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l008" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l008_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l009" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l009_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l009_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l010" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l010_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l010_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l011" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l011_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l011_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l012" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l012_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l013" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l013_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l014" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l014_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l015" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l015_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l016" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l016_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l017" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l017_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l018" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l018_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l018_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l019" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l019_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l020" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l020_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l020_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l021" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l021_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l021_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="band_l084" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l084_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l084_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l084_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l085" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l085_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l085_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l085_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l086" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l086_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l086_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l086_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l087" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l087_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l087_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l087_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l088" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l088_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l088_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l088_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_l089" pos="0.004362409573 0 0" quat="1 0 0 0"><joint name="band_l089_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0002" damping="12"/><joint name="band_l089_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.002181204787 0 0" mass="0.0001726819147" diaginertia="7.770686163e-10 6.623879274e-10 6.623879274e-10"/><geom name="band_l089_c" type="capsule" fromto="0 0 0 0.004362409573 0 0" size="0.003" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></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="face_pin" body1="fusee" body2="fusee_face" anchor="0 0 0.015" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="band_eyeA" body1="band_l000" body2="fusee" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_eyeB" body1="band_l089" body2="carriage" anchor="0.004362409573 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="fusee" body2="fusee_face"/><exclude body1="band_l000" body2="fusee"/><exclude body1="band_l089" body2="carriage"/></contact>
<actuator><velocity name="drive" joint="j_f" kv="50" forcerange="-10 10"/></actuator>
</mujoco>
