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<body name="band_c_l020" pos="-0.1349869039 -0.032 -0.1757622102" quat="0.8581639224 0 0.5133757711 0">
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<body name="band_d_l082" pos="0.0120904946 0 0" quat="0.9995528961 0.0002535868485 -0.02855035056 -0.008878121069"><joint name="band_d_l082_s" type="slide" axis="0.9982121129 0.01773382327 -0.05707967393" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_d_l082_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l082_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.006045253359 0 0" mass="0.0002126186627" diaginertia="4.252373254e-10 2.802674588e-9 2.802674588e-9"/><geom name="band_d_l082_c" type="capsule" fromto="0 0 0 0.01209050672 0 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0003 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l083" pos="0.01209050672 0 0" quat="0.9995528961 0.0002532132725 -0.02855485093 -0.008863644939"><joint name="band_d_l083_s" type="slide" axis="0.9982121126 0.017704903 -0.05708865667" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_d_l083_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l083_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.006045270983 0 0" mass="0.0002126186627" diaginertia="4.252373254e-10 2.80268969e-9 2.80268969e-9"/><geom name="band_d_l083_c" type="capsule" fromto="0 0 0 0.01209054197 0 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0003 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l084" pos="0.01209054197 0 0" quat="0.9995528961 0.0002528400319 -0.02855933986 -0.008849188648"><joint name="band_d_l084_s" type="slide" axis="0.9982121119 0.01767602239 -0.0570976166" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_d_l084_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l084_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.006045300173 0 0" mass="0.0002126186627" diaginertia="4.252373254e-10 2.802714703e-9 2.802714703e-9"/><geom name="band_d_l084_c" type="capsule" fromto="0 0 0 0.01209060035 0 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0003 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l085" pos="0.01209060035 0 0" quat="0.9995528959 0.0002524671275 -0.02856381741 -0.008834752187"><joint name="band_d_l085_s" type="slide" axis="0.998212111 0.01764718142 -0.0571065538" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="band_d_l085_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l085_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.00604534093 0 0" mass="0.0002126186627" diaginertia="4.252373254e-10 2.802749628e-9 2.802749628e-9"/><geom name="band_d_l085_c" type="capsule" fromto="0 0 0 0.01209068186 0 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0003 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="band_c_eyeA" body1="band_c_l000" body2="rocker" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_c_eyeB" body1="band_c_l089" body2="rocker" anchor="0.00952713627 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_c_pin0" body1="band_c_l009" body2="band_c_l010" anchor="0.009527015515 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin1" body1="band_c_l019" body2="band_c_l020" anchor="0.009527982063 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin2" body1="band_c_l029" body2="band_c_l030" anchor="0.009527982063 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin3" body1="band_c_l039" body2="band_c_l040" anchor="0.009517920433 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin4" body1="band_c_l049" body2="band_c_l050" anchor="0.009517931963 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin5" body1="band_c_l059" body2="band_c_l060" anchor="0.009527982063 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin6" body1="band_c_l069" body2="band_c_l070" anchor="0.009527982063 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_c_pin7" body1="band_c_l079" body2="band_c_l080" anchor="0.009527760651 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_eyeA" body1="band_d_l000" body2="rocker" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_d_eyeB" body1="band_d_l085" body2="rocker" anchor="0.01209068186 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_d_pin0" body1="band_d_l009" body2="band_d_l010" anchor="0.01209068153 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin1" body1="band_d_l018" body2="band_d_l019" anchor="0.01209245006 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin2" body1="band_d_l028" body2="band_d_l029" anchor="0.01209245006 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin3" body1="band_d_l037" body2="band_d_l038" anchor="0.01207234402 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin4" body1="band_d_l047" body2="band_d_l048" anchor="0.01207231075 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin5" body1="band_d_l056" body2="band_d_l057" anchor="0.01208697637 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin6" body1="band_d_l066" body2="band_d_l067" anchor="0.01209245006 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin7" body1="band_d_l075" body2="band_d_l076" anchor="0.01209060368 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="band_c_l000" body2="rocker"/><exclude body1="band_c_l089" body2="rocker"/><exclude body1="band_c_l009" body2="band_c_l010"/><exclude body1="band_c_l019" body2="band_c_l020"/><exclude body1="band_c_l029" body2="band_c_l030"/><exclude body1="band_c_l039" body2="band_c_l040"/><exclude body1="band_c_l049" body2="band_c_l050"/><exclude body1="band_c_l059" body2="band_c_l060"/><exclude body1="band_c_l069" body2="band_c_l070"/><exclude body1="band_c_l079" body2="band_c_l080"/><exclude body1="band_c_l000" body2="a_c1_w"/><exclude body1="band_c_l089" body2="a_c2_w"/><exclude body1="band_d_l000" body2="rocker"/><exclude body1="band_d_l085" body2="rocker"/><exclude body1="band_d_l009" body2="band_d_l010"/><exclude body1="band_d_l018" body2="band_d_l019"/><exclude body1="band_d_l028" body2="band_d_l029"/><exclude body1="band_d_l037" body2="band_d_l038"/><exclude body1="band_d_l047" body2="band_d_l048"/><exclude body1="band_d_l056" body2="band_d_l057"/><exclude body1="band_d_l066" body2="band_d_l067"/><exclude body1="band_d_l075" body2="band_d_l076"/><exclude body1="band_d_l000" body2="a_d1_w"/><exclude body1="band_d_l085" body2="a_d2_w"/></contact>
<actuator><velocity name="drive" joint="j_a" kv="50" forcerange="-200 200"/></actuator>
</mujoco>
