<mujoco model="359-primitive-drilling-apparatus">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.00005" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="spindle" pos="0 0 0" quat="1 0 0 0"><joint name="j_s" type="hinge" axis="0 0 1" damping="0.002" frictionloss="0"/><inertial pos="0 0 0.01096472906" mass="2.066022524" fullinertia="0.03267432903 0.03267432902 0.009056493535 0 0 0"/><body name="drum_w" pos="0 0 0.225" quat="0.70710678 0.70710678 0 0"><geom name="drum_w_rim" condim="3" type="capsule" fromto="0 -0.045 0 0 0.045 0" size="0.014" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="spindle_rod" type="capsule" fromto="0 0 -0.026 0 0 0.272" size="0.014" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="disk" type="capsule" fromto="0 0 -0.012 0 0 0.012" size="0.106" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="disk_rim" type="capsule" fromto="0 0 -0.016 0 0 0.016" size="0.096" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="chuck" type="capsule" fromto="0 0 -0.044 0 0 -0.026" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="bit" type="capsule" fromto="0 0 -0.08 0 0 -0.044" size="0.004" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="bit_tip" type="capsule" fromto="0 0 -0.09 0 0 -0.08" size="0.0015" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="bar" pos="0 0 0.16"><joint name="j_b" type="slide" axis="0 0 1" damping="0.5" frictionloss="0" range="-0.135 0.08" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.0001936411937" mass="0.1872620387" fullinertia="0.000008821041187 0.0005927410073 0.0005962233 0 0 0"/></body>
<body name="band_l_l000" pos="-0.09 0 0.166" quat="0.9422220492 0.02287681651 -0.3276688223 -0.06578300853">
<joint name="band_l_root" type="free" damping="0.0001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l000_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l001" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l001_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l001_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l001_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l002" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l002_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l002_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l002_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l003" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l003_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l003_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l003_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l004" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l004_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l004_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l004_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l005" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l005_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l005_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l005_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l006" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l006_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l006_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l006_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l007" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l007_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l007_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l007_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l008" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l008_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l008_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l008_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_l_l009" pos="-0.06492444503 -0.004486683473 0.1858400621" quat="0.9422220492 0.02287681651 -0.3276688223 -0.06578300853">
<joint name="band_l_root1" type="free" damping="0.0001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l009_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l010" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l010_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l010_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l010_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l011" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l011_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l011_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l011_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l012" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l012_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l012_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l012_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l013" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l013_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l013_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l013_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l014" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l014_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l014_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l014_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l015" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l015_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l015_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l015_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l016" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l016_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l016_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l016_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l017" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l017_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l017_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l017_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_l_l018" pos="-0.03984889006 -0.008973366946 0.2056801243" quat="0.9422220492 0.02287681651 -0.3276688223 -0.06578300853">
<joint name="band_l_root2" type="free" damping="0.0001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l018_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l019" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l019_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l019_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l019_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l020" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l020_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l020_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l020_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l021" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l021_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l021_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l021_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l022" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l022_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l022_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l022_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l023" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l023_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l023_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l023_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l024" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l024_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l024_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l024_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l025" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l025_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l025_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l025_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l026" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l026_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l026_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l026_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_l_l027" pos="-0.0147733351 -0.01346005042 0.2255201864" quat="0.9422220492 0.02287681651 -0.3276688223 -0.06578300853">
<joint name="band_l_root3" type="free" damping="0.0001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l027_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l028" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l028_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l028_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l028_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l029" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l029_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l029_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l029_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l030" pos="0.003587601852 0 0" quat="1 0 0 0"><joint name="band_l_l030_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l030_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800926 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.87419008e-11 8.87419008e-11"/><geom name="band_l_l030_c" type="capsule" fromto="0 0 0 0.003587601852 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l031" pos="0.003587601852 0 0" quat="0.9922352365 0.001495582376 0.1237872572 0.01198806377"><joint name="band_l_l031_s" type="slide" axis="0.9690660026 -0.02341969049 0.2456880151" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l031_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001768992238 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.731954131e-11 8.731954131e-11"/><geom name="band_l_l031_c" type="capsule" fromto="0 0 0 0.003537984475 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l032" pos="0.003537984475 0 0" quat="0.9941562696 0.005234349128 0.05676558756 0.09167104977"><joint name="band_l_l032_s" type="slide" axis="0.9767481734 -0.1816764359 0.1138274061" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l032_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790653294 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856034007e-11 8.856034007e-11"/><geom name="band_l_l032_c" type="capsule" fromto="0 0 0 0.003581306588 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l033" pos="0.003581306588 0 0" quat="0.9947514404 -0.0001237159103 -0.001202834841 0.1023137806"><joint name="band_l_l033_s" type="slide" axis="0.979060887 -0.2035532636 -0.002418359067" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l033_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.00179065034 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.85601698e-11 8.85601698e-11"/><geom name="band_l_l033_c" type="capsule" fromto="0 0 0 0.003581300679 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l034" pos="0.003581300679 0 0" quat="0.9947611942 -0.0008281906302 -0.008084707977 0.1019024933"><joint name="band_l_l034_s" type="slide" axis="0.9791010387 -0.2027239005 -0.0162534969" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l034_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790655365 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856045942e-11 8.856045942e-11"/><geom name="band_l_l034_c" type="capsule" fromto="0 0 0 0.00358131073 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l035" pos="0.00358131073 0 0" quat="0.9947471114 -0.001536236938 -0.01509567363 0.1012321341"><joint name="band_l_l035_s" type="slide" axis="0.9790483513 -0.2013543649 -0.03034378855" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l035_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790656138 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856050395e-11 8.856050395e-11"/><geom name="band_l_l035_c" type="capsule" fromto="0 0 0 0.003581312275 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_l_l036" pos="0.01175318174 -0.01063618798 0.2401759448" quat="0.8819202371 -0.04122210991 -0.1943311051 0.4274960288">
<joint name="band_l_root4" type="free" damping="0.0001"/><inertial pos="0.001790648236 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856004855e-11 8.856004855e-11"/><geom name="band_l_l036_c" type="capsule" fromto="0 0 0 0.003581296471 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l037" pos="0.003581296471 0 0" quat="0.9947493532 -0.002881688487 -0.02924085988 0.09803260816"><joint name="band_l_l037_s" type="slide" axis="0.9790691597 -0.194867221 -0.05873965177" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l037_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.0017906525 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856029431e-11 8.856029431e-11"/><geom name="band_l_l037_c" type="capsule" fromto="0 0 0 0.003581305 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l038" pos="0.003581305 0 0" quat="0.9947491596 -0.003489257294 -0.03629668325 0.09562680252"><joint name="band_l_l038_s" type="slide" axis="0.9790761309 -0.1899960659 -0.07287952335" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l038_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790647212 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.855998957e-11 8.855998957e-11"/><geom name="band_l_l038_c" type="capsule" fromto="0 0 0 0.003581294424 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l039" pos="0.003581294424 0 0" quat="0.9947505932 -0.004028644654 -0.04325387658 0.09265057785"><joint name="band_l_l039_s" type="slide" axis="0.9790899452 -0.1839799255 -0.08680015128" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l039_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790654311 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856039868e-11 8.856039868e-11"/><geom name="band_l_l039_c" type="capsule" fromto="0 0 0 0.003581308622 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l040" pos="0.003581308622 0 0" quat="0.9947398937 -0.004495448027 -0.05012104181 0.08922004274"><joint name="band_l_l040_s" type="slide" axis="0.9790553303 -0.1770508386 -0.1005169677" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l040_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652294 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856028246e-11 8.856028246e-11"/><geom name="band_l_l040_c" type="capsule" fromto="0 0 0 0.003581304589 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l041" pos="0.003581304589 0 0" quat="0.9947497304 -0.004847043854 -0.05667669676 0.08507192272"><joint name="band_l_l041_s" type="slide" axis="0.97910104 -0.1687011155 -0.1135829523" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l041_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652864 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856031526e-11 8.856031526e-11"/><geom name="band_l_l041_c" type="capsule" fromto="0 0 0 0.003581305727 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l042" pos="0.003581305727 0 0" quat="0.9947365684 -0.005110268989 -0.06308202973 0.08058351102"><joint name="band_l_l042_s" type="slide" axis="0.9790539106 -0.1596739982 -0.1263236104" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l042_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790654633 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856041723e-11 8.856041723e-11"/><geom name="band_l_l042_c" type="capsule" fromto="0 0 0 0.003581309266 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l043" pos="0.003581309266 0 0" quat="0.9947453367 -0.005234125523 -0.06902355233 0.07543254121"><joint name="band_l_l043_s" type="slide" axis="0.9790913619 -0.1493497813 -0.1381113604" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l043_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790647365 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.855999836e-11 8.855999836e-11"/><geom name="band_l_l043_c" type="capsule" fromto="0 0 0 0.00358129473 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l044" pos="0.00358129473 0 0" quat="0.9947410805 -0.005247768659 -0.07465055284 0.06992809654"><joint name="band_l_l044_s" type="slide" axis="0.9790747125 -0.138337203 -0.1492498761" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l044_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.00179065245 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856029145e-11 8.856029145e-11"/><geom name="band_l_l044_c" type="capsule" fromto="0 0 0 0.003581304901 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_l_l045" pos="0.00569923594 0.01479146838 0.2500879722" quat="0.1838267384 0.08021433512 -0.4587182707 0.865650587">
<joint name="band_l_root5" type="free" damping="0.0001"/><inertial pos="0.001790647972 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856003334e-11 8.856003334e-11"/><geom name="band_l_l045_c" type="capsule" fromto="0 0 0 0.003581295944 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l046" pos="0.003581295944 0 0" quat="0.9947481063 -0.004893956504 -0.08442029896 0.05766686477"><joint name="band_l_l046_s" type="slide" axis="0.9790954917 -0.1139017105 -0.1685183033" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l046_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790655716 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856047967e-11 8.856047967e-11"/><geom name="band_l_l046_c" type="capsule" fromto="0 0 0 0.003581311433 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l047" pos="0.003581311433 0 0" quat="0.9947382107 -0.004558271096 -0.0886513126 0.0511474258"><joint name="band_l_l047_s" type="slide" axis="0.9790497712 -0.1009484042 -0.1768359838" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l047_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790654685 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856042021e-11 8.856042021e-11"/><geom name="band_l_l047_c" type="capsule" fromto="0 0 0 0.003581309369 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l048" pos="0.003581309369 0 0" quat="0.9947530818 -0.004101932689 -0.09212975936 0.04428981702"><joint name="band_l_l048_s" type="slide" axis="0.9791010391 -0.0873590438 -0.1836560718" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l048_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790650798 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856019619e-11 8.856019619e-11"/><geom name="band_l_l048_c" type="capsule" fromto="0 0 0 0.003581301595 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l049" pos="0.003581301595 0 0" quat="0.9947446527 -0.003579093136 -0.09525351011 0.03737692978"><joint name="band_l_l049_s" type="slide" axis="0.9790594679 -0.0736791597 -0.1897733907" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l049_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790653517 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856035291e-11 8.856035291e-11"/><geom name="band_l_l049_c" type="capsule" fromto="0 0 0 0.003581307034 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l050" pos="0.003581307034 0 0" quat="0.9947532633 -0.00297525253 -0.09766674048 0.03030348047"><joint name="band_l_l050_s" type="slide" axis="0.9790858137 -0.05970780574 -0.1944889386" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l050_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790646929 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.855997326e-11 8.855997326e-11"/><geom name="band_l_l050_c" type="capsule" fromto="0 0 0 0.003581293859 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l051" pos="0.003581293859 0 0" quat="0.9947536 -0.00232534895 -0.09960178193 0.02322397446"><joint name="band_l_l051_s" type="slide" axis="0.9790802641 -0.0457410466 -0.19826647" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l051_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652789 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856031098e-11 8.856031098e-11"/><geom name="band_l_l051_c" type="capsule" fromto="0 0 0 0.003581305579 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l052" pos="0.003581305579 0 0" quat="0.9947511342 -0.001641059101 -0.1010266748 0.01615855818"><joint name="band_l_l052_s" type="slide" axis="0.979065024 -0.03181590666 -0.201045833" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l052_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790649167 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856010222e-11 8.856010222e-11"/><geom name="band_l_l052_c" type="capsule" fromto="0 0 0 0.003581298334 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_l_l053" pos="0.003581298334 0 0" quat="0.9947610985 -0.0009357352326 -0.1018130383 0.009142571751"><joint name="band_l_l053_s" type="slide" axis="0.9791010372 -0.01799880934 -0.2025764097" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_l_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_l_l053_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.00179065751 0 0" mass="0.0000482765493" diaginertia="7.392346611e-11 8.856058306e-11 8.856058306e-11"/><geom name="band_l_l053_c" type="capsule" fromto="0 0 0 0.003581315021 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l000" pos="0.09 0 0.166" quat="-0.3276688218 0.06578300888 0.9422220493 -0.02287681659">
<joint name="band_r_root" type="free" damping="0.0001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l000_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l001" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l001_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l001_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l001_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l002" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l002_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l002_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l002_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l003" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l003_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l003_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l003_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l004" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l004_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l004_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l004_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l005" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l005_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l005_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l005_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l006" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l006_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l006_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l006_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l007" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l007_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l007_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l007_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l008" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l008_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l008_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l008_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l009" pos="0.06492444505 0.004486683489 0.1858400621" quat="-0.3276688218 0.06578300888 0.9422220493 -0.02287681659">
<joint name="band_r_root1" type="free" damping="0.0001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l009_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l010" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l010_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l010_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l010_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l011" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l011_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l011_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l011_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l012" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l012_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l012_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l012_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l013" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l013_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l013_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l013_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l014" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l014_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l014_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l014_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l015" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l015_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l015_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l015_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l016" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l016_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l016_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l016_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l017" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l017_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l017_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l017_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l018" pos="0.0398488901 0.008973366978 0.2056801241" quat="-0.3276688218 0.06578300888 0.9422220493 -0.02287681659">
<joint name="band_r_root2" type="free" damping="0.0001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l018_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l019" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l019_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l019_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l019_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l020" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l020_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l020_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l020_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l021" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l021_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l021_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l021_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l022" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l022_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l022_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l022_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l023" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l023_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l023_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l023_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l024" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l024_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l024_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l024_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l025" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l025_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l025_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l025_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l026" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l026_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l026_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l026_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l027" pos="0.01477333515 0.01346005047 0.2255201862" quat="-0.3276688218 0.06578300888 0.9422220493 -0.02287681659">
<joint name="band_r_root3" type="free" damping="0.0001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l027_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l028" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l028_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l028_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l028_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l029" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l029_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l029_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l029_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l030" pos="0.003587601846 0 0" quat="1 0 0 0"><joint name="band_r_l030_s" type="slide" axis="1 0 0" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l030_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001793800923 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.874190051e-11 8.874190051e-11"/><geom name="band_r_l030_c" type="capsule" fromto="0 0 0 0.003587601846 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l031" pos="0.003587601846 0 0" quat="0.9922352376 0.00149558207 -0.1237872482 -0.0119880622"><joint name="band_r_l031_s" type="slide" axis="0.9690660071 0.02341968751 -0.2456879975" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l031_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001768992233 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.731954093e-11 8.731954093e-11"/><geom name="band_r_l031_c" type="capsule" fromto="0 0 0 0.003537984467 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l032" pos="0.003537984467 0 0" quat="0.9941562693 0.005234349713 -0.05676559507 -0.09167104786"><joint name="band_r_l032_s" type="slide" axis="0.9767481724 0.1816764319 -0.1138274211" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l032_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790653291 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856033978e-11 8.856033978e-11"/><geom name="band_r_l032_c" type="capsule" fromto="0 0 0 0.003581306583 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l033" pos="0.003581306583 0 0" quat="0.9947514405 -0.0001237159603 0.001202835333 -0.1023137801"><joint name="band_r_l033_s" type="slide" axis="0.9790608872 0.2035532626 0.002418360055" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l033_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790650337 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856016951e-11 8.856016951e-11"/><geom name="band_r_l033_c" type="capsule" fromto="0 0 0 0.003581300674 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l034" pos="0.003581300674 0 0" quat="0.9947611942 -0.0008281906776 0.008084708459 -0.101902493"><joint name="band_r_l034_s" type="slide" axis="0.9791010388 0.2027239 0.01625349787" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l034_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790655362 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856045913e-11 8.856045913e-11"/><geom name="band_r_l034_c" type="capsule" fromto="0 0 0 0.003581310725 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l035" pos="0.003581310725 0 0" quat="0.9947471114 -0.001536236991 0.01509567416 -0.101232134"><joint name="band_r_l035_s" type="slide" axis="0.9790483513 0.2013543647 0.03034378963" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l035_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790656135 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856050366e-11 8.856050366e-11"/><geom name="band_r_l035_c" type="capsule" fromto="0 0 0 0.00358131227 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l036" pos="-0.01175318166 0.01063618817 0.2401759447" quat="-0.194331108 -0.4274960239 0.8819202388 0.04122210988">
<joint name="band_r_root4" type="free" damping="0.0001"/><inertial pos="0.001790648233 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856004826e-11 8.856004826e-11"/><geom name="band_r_l036_c" type="capsule" fromto="0 0 0 0.003581296466 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l037" pos="0.003581296466 0 0" quat="0.9947493532 -0.002881688535 0.02924086042 -0.09803260797"><joint name="band_r_l037_s" type="slide" axis="0.9790691597 0.1948672206 0.05873965287" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l037_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652497 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856029402e-11 8.856029402e-11"/><geom name="band_r_l037_c" type="capsule" fromto="0 0 0 0.003581304995 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l038" pos="0.003581304995 0 0" quat="0.9947491596 -0.003489257311 0.03629668366 -0.09562680191"><joint name="band_r_l038_s" type="slide" axis="0.979076131 0.1899960647 0.07287952416" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l038_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790647209 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.855998928e-11 8.855998928e-11"/><geom name="band_r_l038_c" type="capsule" fromto="0 0 0 0.003581294419 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l039" pos="0.003581294419 0 0" quat="0.9947505932 -0.004028644691 0.04325387712 -0.09265057754"><joint name="band_r_l039_s" type="slide" axis="0.9790899452 0.1839799249 0.08680015235" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l039_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790654308 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856039838e-11 8.856039838e-11"/><geom name="band_r_l039_c" type="capsule" fromto="0 0 0 0.003581308617 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l040" pos="0.003581308617 0 0" quat="0.9947398937 -0.004495448026 0.05012104217 -0.08922004208"><joint name="band_r_l040_s" type="slide" axis="0.9790553304 0.1770508373 0.1005169684" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l040_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652292 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856028217e-11 8.856028217e-11"/><geom name="band_r_l040_c" type="capsule" fromto="0 0 0 0.003581304584 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l041" pos="0.003581304584 0 0" quat="0.9947497304 -0.004847043858 0.05667669716 -0.08507192219"><joint name="band_r_l041_s" type="slide" axis="0.9791010401 0.1687011145 0.1135829531" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l041_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652861 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856031497e-11 8.856031497e-11"/><geom name="band_r_l041_c" type="capsule" fromto="0 0 0 0.003581305722 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l042" pos="0.003581305722 0 0" quat="0.9947365684 -0.005110268997 0.06308203019 -0.08058351055"><joint name="band_r_l042_s" type="slide" axis="0.9790539106 0.1596739972 0.1263236113" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l042_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.00179065463 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856041694e-11 8.856041694e-11"/><geom name="band_r_l042_c" type="capsule" fromto="0 0 0 0.003581309261 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l043" pos="0.003581309261 0 0" quat="0.9947453367 -0.005234125492 0.06902355258 -0.07543254049"><joint name="band_r_l043_s" type="slide" axis="0.979091362 0.1493497799 0.1381113609" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l043_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790647362 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.855999807e-11 8.855999807e-11"/><geom name="band_r_l043_c" type="capsule" fromto="0 0 0 0.003581294724 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l044" pos="0.003581294724 0 0" quat="0.9947410805 -0.005247768643 0.07465055322 -0.06992809598"><joint name="band_r_l044_s" type="slide" axis="0.9790747126 0.1383372018 0.1492498769" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l044_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652448 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856029116e-11 8.856029116e-11"/><geom name="band_r_l044_c" type="capsule" fromto="0 0 0 0.003581304895 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="band_r_l045" pos="-0.005699236107 -0.01479146815 0.2500879723" quat="0.4587182769 0.8656505828 -0.1838267436 0.08021433299">
<joint name="band_r_root5" type="free" damping="0.0001"/><inertial pos="0.001790647969 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856003305e-11 8.856003305e-11"/><geom name="band_r_l045_c" type="capsule" fromto="0 0 0 0.003581295938 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l046" pos="0.003581295938 0 0" quat="0.9947481063 -0.004893956465 0.08442029923 -0.05766686414"><joint name="band_r_l046_s" type="slide" axis="0.9790954917 0.1139017093 0.1685183038" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l046_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790655714 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856047938e-11 8.856047938e-11"/><geom name="band_r_l046_c" type="capsule" fromto="0 0 0 0.003581311427 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l047" pos="0.003581311427 0 0" quat="0.9947382107 -0.004558271032 0.08865131267 -0.05114742505"><joint name="band_r_l047_s" type="slide" axis="0.9790497713 0.1009484027 0.1768359839" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l047_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790654682 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856041992e-11 8.856041992e-11"/><geom name="band_r_l047_c" type="capsule" fromto="0 0 0 0.003581309364 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l048" pos="0.003581309364 0 0" quat="0.9947530818 -0.004101932629 0.09212975946 -0.04428981632"><joint name="band_r_l048_s" type="slide" axis="0.9791010392 0.08735904242 0.183656072" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l048_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790650795 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.85601959e-11 8.85601959e-11"/><geom name="band_r_l048_c" type="capsule" fromto="0 0 0 0.00358130159 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l049" pos="0.00358130159 0 0" quat="0.9947446527 -0.003579093074 0.0952535102 -0.03737692909"><joint name="band_r_l049_s" type="slide" axis="0.9790594679 0.07367915833 0.1897733909" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l049_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790653514 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856035262e-11 8.856035262e-11"/><geom name="band_r_l049_c" type="capsule" fromto="0 0 0 0.003581307028 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l050" pos="0.003581307028 0 0" quat="0.9947532633 -0.002975252457 0.09766674042 -0.03030347975"><joint name="band_r_l050_s" type="slide" axis="0.9790858139 0.05970780432 0.1944889385" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l050_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790646927 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.855997297e-11 8.855997297e-11"/><geom name="band_r_l050_c" type="capsule" fromto="0 0 0 0.003581293853 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l051" pos="0.003581293853 0 0" quat="0.9947536001 -0.00232534888 0.0996017819 -0.02322397376"><joint name="band_r_l051_s" type="slide" axis="0.9790802642 0.04574104523 0.1982664699" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l051_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790652787 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856031069e-11 8.856031069e-11"/><geom name="band_r_l051_c" type="capsule" fromto="0 0 0 0.003581305573 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l052" pos="0.003581305573 0 0" quat="0.9947511342 -0.001641059028 0.1010266747 -0.01615855748"><joint name="band_r_l052_s" type="slide" axis="0.9790650241 0.03181590528 0.2010458327" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l052_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790649164 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856010193e-11 8.856010193e-11"/><geom name="band_r_l052_c" type="capsule" fromto="0 0 0 0.003581298329 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="band_r_l053" pos="0.003581298329 0 0" quat="0.9947610985 -0.0009357351616 0.1018130381 -0.009142571072"><joint name="band_r_l053_s" type="slide" axis="0.9791010373 0.01799880801 0.2025764094" stiffness="50000" springref="-0.00002" damping="2"/><joint name="band_r_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_r_l053_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.001790657508 0 0" mass="0.00004827654922" diaginertia="7.3923466e-11 8.856058277e-11 8.856058277e-11"/><geom name="band_r_l053_c" type="capsule" fromto="0 0 0 0.003581315015 0 0" size="0.00175" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.001 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</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_l_eyeA" body1="band_l_l000" body2="bar" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_l_eyeB" body1="band_l_l053" body2="spindle" anchor="0.003581315021 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_l_pin0" body1="band_l_l008" body2="band_l_l009" anchor="0.003587601852 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_l_pin1" body1="band_l_l017" body2="band_l_l018" anchor="0.003587601852 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_l_pin2" body1="band_l_l026" body2="band_l_l027" anchor="0.003587601852 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_l_pin3" body1="band_l_l035" body2="band_l_l036" anchor="0.003581312275 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_l_pin4" body1="band_l_l044" body2="band_l_l045" anchor="0.003581304901 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_r_eyeA" body1="band_r_l000" body2="bar" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_r_eyeB" body1="band_r_l053" body2="spindle" anchor="0.003581315015 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_r_pin0" body1="band_r_l008" body2="band_r_l009" anchor="0.003587601846 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_r_pin1" body1="band_r_l017" body2="band_r_l018" anchor="0.003587601846 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_r_pin2" body1="band_r_l026" body2="band_r_l027" anchor="0.003587601846 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_r_pin3" body1="band_r_l035" body2="band_r_l036" anchor="0.00358131227 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/><connect name="band_r_pin4" body1="band_r_l044" body2="band_r_l045" anchor="0.003581304895 0 0" solref="-500000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="band_l_l000" body2="bar"/><exclude body1="band_l_l053" body2="spindle"/><exclude body1="band_l_l008" body2="band_l_l009"/><exclude body1="band_l_l017" body2="band_l_l018"/><exclude body1="band_l_l026" body2="band_l_l027"/><exclude body1="band_l_l035" body2="band_l_l036"/><exclude body1="band_l_l044" body2="band_l_l045"/><exclude body1="band_l_l053" body2="drum_w"/><exclude body1="band_r_l000" body2="bar"/><exclude body1="band_r_l053" body2="spindle"/><exclude body1="band_r_l008" body2="band_r_l009"/><exclude body1="band_r_l017" body2="band_r_l018"/><exclude body1="band_r_l026" body2="band_r_l027"/><exclude body1="band_r_l035" body2="band_r_l036"/><exclude body1="band_r_l044" body2="band_r_l045"/><exclude body1="band_r_l053" body2="drum_w"/></contact>
<actuator><motor name="foot1" joint="j_b" gear="-1" ctrlrange="0 24"/></actuator>
</mujoco>
