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<body name="band_d_l020" pos="0.03897677589 -0.021 0.3585320025" quat="-0.0001441252048 0 0.9999999896 0">
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<body name="band_d_l026" pos="0.005551161436 0 0" quat="1 0 0 0"><joint name="band_d_l026_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l026_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775580718 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719603209e-10 1.719603209e-10"/><geom name="band_d_l026_c" type="capsule" fromto="0 0 0 0.005551161436 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l027" pos="0.005551161436 0 0" quat="1 0 0 0"><joint name="band_d_l027_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l027_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775580718 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719603209e-10 1.719603209e-10"/><geom name="band_d_l027_c" type="capsule" fromto="0 0 0 0.005551161436 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l028" pos="0.005551161436 0 0" quat="0.9999998472 0 -0.0005527677511 0"><joint name="band_d_l028_s" type="slide" axis="0.9999993889 0 -0.001105535333" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l028_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775573071 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719595436e-10 1.719595436e-10"/><geom name="band_d_l028_c" type="capsule" fromto="0 0 0 0.005551146142 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l029" pos="0.005551146142 0 0" quat="0.999753099 0 -0.02222028276 0"><joint name="band_d_l029_s" type="slide" axis="0.9990125181 0 -0.0444295931" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l029_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775060556 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719074542e-10 1.719074542e-10"/><geom name="band_d_l029_c" type="capsule" fromto="0 0 0 0.005550121111 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 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 name="band_d_l030" pos="-0.01652809512 -0.021 0.3582891455" quat="0.05560370776 0 0.9984529171 0">
<joint name="band_d_root3" type="free" damping="0.0001"/><inertial pos="0.002775054009 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719067889e-10 1.719067889e-10"/><geom name="band_d_l030_c" type="capsule" fromto="0 0 0 0.005550108018 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l031" pos="0.005550108018 0 0" quat="0.9994426436 0 -0.03338266134 0"><joint name="band_d_l031_s" type="slide" axis="0.9977711958 0 -0.0667281106" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l031_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775052853 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719066714e-10 1.719066714e-10"/><geom name="band_d_l031_c" type="capsule" fromto="0 0 0 0.005550105706 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l032" pos="0.005550105706 0 0" quat="0.9994522075 0 -0.03309508921 0"><joint name="band_d_l032_s" type="slide" axis="0.9978094301 0 -0.06615391994" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l032_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775050034 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719063849e-10 1.719063849e-10"/><geom name="band_d_l032_c" type="capsule" fromto="0 0 0 0.005550100068 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l033" pos="0.005550100068 0 0" quat="0.9994459599 0 -0.03328322633 0"><joint name="band_d_l033_s" type="slide" axis="0.9977844537 0 -0.06652957217" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l033_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775049108 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719062909e-10 1.719062909e-10"/><geom name="band_d_l033_c" type="capsule" fromto="0 0 0 0.005550098217 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l034" pos="0.005550098217 0 0" quat="0.9994489099 0 -0.03319452391 0"><joint name="band_d_l034_s" type="slide" axis="0.9977962472 0 -0.06635246148" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l034_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775048808 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719062603e-10 1.719062603e-10"/><geom name="band_d_l034_c" type="capsule" fromto="0 0 0 0.005550097615 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l035" pos="0.005550097615 0 0" quat="0.9994492663 0 -0.03318379116 0"><joint name="band_d_l035_s" type="slide" axis="0.997797672 0 -0.06633103145" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l035_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775049322 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719063126e-10 1.719063126e-10"/><geom name="band_d_l035_c" type="capsule" fromto="0 0 0 0.005550098644 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l036" pos="0.005550098644 0 0" quat="0.9994456025 0 -0.0332939591 0"><joint name="band_d_l036_s" type="slide" axis="0.9977830246 0 -0.06655100202" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l036_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775050331 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719064151e-10 1.719064151e-10"/><geom name="band_d_l036_c" type="capsule" fromto="0 0 0 0.005550100661 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l037" pos="0.005550100661 0 0" quat="0.9994525628 0 -0.03308435655 0"><joint name="band_d_l037_s" type="slide" axis="0.9978108507 0 -0.06613248989" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l037_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775053494 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719067365e-10 1.719067365e-10"/><geom name="band_d_l037_c" type="capsule" fromto="0 0 0 0.005550106988 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l038" pos="0.005550106988 0 0" quat="0.9994422851 0 -0.03339339405 0"><joint name="band_d_l038_s" type="slide" axis="0.9977697625 0 -0.06674954011" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l038_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775054603 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719068492e-10 1.719068492e-10"/><geom name="band_d_l038_c" type="capsule" fromto="0 0 0 0.005550109205 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="band_d_l039" pos="0.005550109205 0 0" quat="0.9994558494 0 -0.03298492322 0"><joint name="band_d_l039_s" type="slide" axis="0.9978239897 0 -0.06593394891" stiffness="30000" springref="-0.0001" damping="2"/><joint name="band_d_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0.000001"/><joint name="band_d_l039_v" type="hinge" axis="0 0 1" damping="0.001" armature="0.000001"/><inertial pos="0.002775061624 0 0" mass="0.00005493151197" diaginertia="6.179795096e-11 1.719075627e-10 1.719075627e-10"/><geom name="band_d_l039_c" type="capsule" fromto="0 0 0 0.005550123247 0 0" size="0.0015" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.002 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="pin_b" body1="rod" body2="wb" anchor="0.08047 -0.041 0.132475" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="band_c_eyeA" body1="band_c_l000" body2="rock" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_c_eyeB" body1="band_c_l039" body2="wb" anchor="0.005050270306 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="0.005051014083 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="0.005051014083 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="0.005050188075 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_eyeA" body1="band_d_l000" body2="rock" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="band_d_eyeB" body1="band_d_l039" body2="wb" anchor="0.005550123247 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="0.005551161436 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin1" body1="band_d_l019" body2="band_d_l020" anchor="0.005551161436 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="band_d_pin2" body1="band_d_l029" body2="band_d_l030" anchor="0.005550121111 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="rod" body2="wb"/><exclude body1="band_c_l000" body2="rock"/><exclude body1="band_c_l039" body2="wb"/><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="w_b_w"/><exclude body1="band_d_l000" body2="rock"/><exclude body1="band_d_l039" body2="wb"/><exclude body1="band_d_l009" body2="band_d_l010"/><exclude body1="band_d_l019" body2="band_d_l020"/><exclude body1="band_d_l029" body2="band_d_l030"/><exclude body1="band_d_l039" body2="w_b_w"/></contact>
<actuator><velocity name="drive" joint="j_A" kv="20" forcerange="-200 200"/></actuator>
</mujoco>
