<mujoco model="1-belt-and-pulleys">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="p_top" pos="0 0 0.62"><joint name="j_top" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_top_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_bot" pos="0 0 0.12"><joint name="j_bot" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_bot_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="belt_l000" pos="-0.092 0 0.12" quat="0.7319210707 0 0.6813894233 0">
<freejoint name="belt_root0"/><inertial pos="0.006569622737 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512987239e-8 1.594117958e-7"/><geom name="belt_l000_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.01313924547 0 0" quat="0.9974475124 0 -0.07140350096 0"><joint name="belt_l001_s" type="slide" axis="0.9898030801 0 -0.1424424888" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620394 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985598e-8 1.594117794e-7"/><geom name="belt_l001_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.01313924079 0 0" quat="0.9974469802 0 -0.07141093596 0"><joint name="belt_l002_s" type="slide" axis="0.9898009565 0 -0.1424572449" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621493 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986367e-8 1.594117871e-7"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.01313924299 0 0" quat="0.9974470849 0 -0.07140947269 0"><joint name="belt_l003_s" type="slide" axis="0.9898013744 0 -0.1424543407" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620138 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985419e-8 1.594117776e-7"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.01313924028 0 0" quat="0.9974474077 0 -0.07140496425 0"><joint name="belt_l004_s" type="slide" axis="0.9898026622 0 -0.142445393" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569622247 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986895e-8 1.594117923e-7"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.01313924449 0 0" quat="0.9974466574 0 -0.07141544432 0"><joint name="belt_l005_s" type="slide" axis="0.9897996686 0 -0.1424661925" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00656962197 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986701e-8 1.594117904e-7"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.01313924394 0 0" quat="0.9974475124 0 -0.07140350092 0"><joint name="belt_l006_s" type="slide" axis="0.9898030801 0 -0.1424424887" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620775 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985865e-8 1.59411782e-7"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.01313924155 0 0" quat="0.9974468754 0 -0.07141239923 0"><joint name="belt_l007_s" type="slide" axis="0.9898005385 0 -0.142460149" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621613 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986451e-8 1.594117879e-7"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.01313924323 0 0" quat="0.9974471897 0 -0.07140800941 0"><joint name="belt_l008_s" type="slide" axis="0.9898017924 0 -0.1424514366" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620008 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985327e-8 1.594117767e-7"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.01313924002 0 0" quat="0.9974473029 0 -0.07140642755 0"><joint name="belt_l009_s" type="slide" axis="0.9898022442 0 -0.1424482971" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621877 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986636e-8 1.594117898e-7"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.01313924375 0 0" quat="0.9974467621 0 -0.07141398107 0"><joint name="belt_l010_s" type="slide" axis="0.9898000866 0 -0.1424632884" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621328 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986252e-8 1.594117859e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.01313924266 0 0" quat="0.9974475124 0 -0.07140350091 0"><joint name="belt_l011_s" type="slide" axis="0.9898030801 0 -0.1424424887" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621282 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986219e-8 1.594117856e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01313924256 0 0" quat="0.9974467706 0 -0.0714138625 0"><joint name="belt_l012_s" type="slide" axis="0.9898001205 0 -0.142463053" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621853 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986619e-8 1.594117896e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01313924371 0 0" quat="0.9974472944 0 -0.07140654612 0"><joint name="belt_l013_s" type="slide" axis="0.9898022103 0 -0.1424485325" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620003 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985324e-8 1.594117766e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01313924001 0 0" quat="0.9974471982 0 -0.07140789083 0"><joint name="belt_l014_s" type="slide" axis="0.9898018263 0 -0.1424512013" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621628 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986461e-8 1.59411788e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l015" pos="0.04990129872 0 0.0427093075" quat="0.9484821327 0 -0.3168306234 0">
<freejoint name="belt_root1"/><inertial pos="0.006569620812 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.51298589e-8 1.594117823e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.01313924162 0 0" quat="0.9974475124 0 -0.07140350092 0"><joint name="belt_l016_s" type="slide" axis="0.9898030801 0 -0.1424424887" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621913 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986662e-8 1.5941179e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.01313924383 0 0" quat="0.9974466659 0 -0.07141532575 0"><joint name="belt_l017_s" type="slide" axis="0.9897997025 0 -0.1424659571" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569622213 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986871e-8 1.594117921e-7"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.01313924443 0 0" quat="0.9974473992 0 -0.07140508283 0"><joint name="belt_l018_s" type="slide" axis="0.9898026283 0 -0.1424456283" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620123 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985408e-8 1.594117775e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01313924025 0 0" quat="0.9974470934 0 -0.07140935411 0"><joint name="belt_l019_s" type="slide" axis="0.9898014083 0 -0.1424541054" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621498 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986371e-8 1.594117871e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.013139243 0 0" quat="0.9974469717 0 -0.07141105453 0"><joint name="belt_l020_s" type="slide" axis="0.9898009226 0 -0.1424574802" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00656962042 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985616e-8 1.594117795e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.01313924084 0 0" quat="0.9974486987 0 -0.07138692827 0"><joint name="belt_l021_s" type="slide" axis="0.9898078129 0 -0.1424095974" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569637802 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512997786e-8 1.594119012e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.0131392756 0 0" quat="0.9994146927 0 -0.03420923997 0"><joint name="belt_l022_s" type="slide" axis="0.9976594558 0 -0.06837843411" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l024" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l026" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l026_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l027" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l028" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l028_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l028_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l029" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l029_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l029_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l029_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l030" pos="0.092 0 0.2254867946" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="belt_root2"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l030_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l031" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l031_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l031_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l031_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l032" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l032_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l032_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l033" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l033_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l033_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l034" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l034_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l034_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l034_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l035" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l035_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l035_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l035_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l036" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l037" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l037_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l037_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l038" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l038_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l038_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l039" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l039_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l039_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l040" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l040_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l040_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l040_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l041" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l041_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l042" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l043" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l043_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l044" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l045" pos="0.092 0 0.4227433973" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="belt_root3"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l046_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l047" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l047_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l047_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l048" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l048_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l049" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l049_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l050" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l050_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l050_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l050_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l051" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l051_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l052" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l052_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l052_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l052_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l053" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l053_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l053_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l054" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l054_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l054_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l054_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l055" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l055_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l055_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l055_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l056" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l056_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l056_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l056_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l057" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l057_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l057_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l058" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l058_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l058_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l059" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l059_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l059_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l060" pos="0.092 0 0.62" quat="0.6813894233 0 -0.7319210707 0">
<freejoint name="belt_root4"/><inertial pos="0.006569622737 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512987239e-8 1.594117958e-7"/><geom name="belt_l060_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l061" pos="0.01313924547 0 0" quat="0.9974475124 0 -0.07140350096 0"><joint name="belt_l061_s" type="slide" axis="0.9898030801 0 -0.1424424888" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620394 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985598e-8 1.594117794e-7"/><geom name="belt_l061_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l067" pos="0.01313924155 0 0" quat="0.9974468754 0 -0.07141239923 0"><joint name="belt_l067_s" type="slide" axis="0.9898005385 0 -0.142460149" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621613 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986451e-8 1.594117879e-7"/><geom name="belt_l067_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l068" pos="0.01313924323 0 0" quat="0.9974471897 0 -0.07140800941 0"><joint name="belt_l068_s" type="slide" axis="0.9898017924 0 -0.1424514366" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620008 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985327e-8 1.594117767e-7"/><geom name="belt_l068_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l069" pos="0.01313924002 0 0" quat="0.9974473029 0 -0.07140642755 0"><joint name="belt_l069_s" type="slide" axis="0.9898022442 0 -0.1424482971" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621877 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986636e-8 1.594117898e-7"/><geom name="belt_l069_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l070" pos="0.01313924375 0 0" quat="0.9974467621 0 -0.07141398107 0"><joint name="belt_l070_s" type="slide" axis="0.9898000866 0 -0.1424632884" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l070_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621328 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986252e-8 1.594117859e-7"/><geom name="belt_l070_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l071" pos="0.01313924266 0 0" quat="0.9974475124 0 -0.07140350091 0"><joint name="belt_l071_s" type="slide" axis="0.9898030801 0 -0.1424424887" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621282 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986219e-8 1.594117856e-7"/><geom name="belt_l071_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l072" pos="0.01313924256 0 0" quat="0.9974467706 0 -0.0714138625 0"><joint name="belt_l072_s" type="slide" axis="0.9898001205 0 -0.142463053" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l072_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621853 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986619e-8 1.594117896e-7"/><geom name="belt_l072_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l073" pos="0.01313924371 0 0" quat="0.9974472944 0 -0.07140654612 0"><joint name="belt_l073_s" type="slide" axis="0.9898022103 0 -0.1424485325" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l073_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620003 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985324e-8 1.594117766e-7"/><geom name="belt_l073_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l074" pos="0.01313924001 0 0" quat="0.9974471982 0 -0.07140789083 0"><joint name="belt_l074_s" type="slide" axis="0.9898018263 0 -0.1424512013" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621628 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986461e-8 1.59411788e-7"/><geom name="belt_l074_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l075" pos="-0.04990129872 0 0.6972906925" quat="0.3168306234 0 0.9484821327 0">
<freejoint name="belt_root5"/><inertial pos="0.006569620812 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.51298589e-8 1.594117823e-7"/><geom name="belt_l075_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l076" pos="0.01313924162 0 0" quat="0.9974475124 0 -0.07140350092 0"><joint name="belt_l076_s" type="slide" axis="0.9898030801 0 -0.1424424887" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569621913 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512986662e-8 1.5941179e-7"/><geom name="belt_l076_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l078" pos="0.01313924443 0 0" quat="0.9974473992 0 -0.07140508283 0"><joint name="belt_l078_s" type="slide" axis="0.9898026283 0 -0.1424456283" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.006569620123 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.512985408e-8 1.594117775e-7"/><geom name="belt_l078_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l082" pos="0.0131392756 0 0" quat="0.9994146927 0 -0.03420923997 0"><joint name="belt_l082_s" type="slide" axis="0.9976594558 0 -0.06837843411" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l082_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l082_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l083" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l083_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l083_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l083_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l086" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l086_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l086_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l087" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l087_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l087_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l088" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l088_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l088_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l088_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l089" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l089_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l089_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l090" pos="-0.092 0 0.5145132054" quat="0.7071067812 0 0.7071067812 0">
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<body name="belt_l091" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l091_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l091_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l091_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l096" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l096_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l096_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l096_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l097" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l097_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l097_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l097_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l098" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l098_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l098_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l098_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l099" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l099_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l099_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l099_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l100" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l100_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l100_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l100_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l101" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l101_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l101_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l101_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l102" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l102_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l102_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l103_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l103_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l104" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l104_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l104_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l105" pos="-0.092 0 0.3172566027" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="belt_root7"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l105_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l106" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l106_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l106_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l106_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l109" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l109_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l109_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l110" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l110_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l110_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l110_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l111" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l111_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l111_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l111_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l112" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l112_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l112_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l112_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l113" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l113_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l113_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l114" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l114_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l114_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l114_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l115" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l115_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l115_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l116_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l116_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l117_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l117_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l118_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l118_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.01315044018 0 0" quat="1 0 0 0"><joint name="belt_l119_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00657522009 0 0" mass="0.001598594326" diaginertia="1.385448416e-7 2.516907861e-8 1.59451002e-7"/><geom name="belt_l119_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l014" body2="belt_l015" anchor="0.01313924326 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.01313924326 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.01315044018 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>

<actuator><velocity name="drive" joint="j_top" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
