<mujoco model="5-pulleys-with-tightening-mechanism">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" 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="0.023 0 0.088"><joint name="j_bot" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0.05"/><inertial pos="0 0 0" mass="1" diaginertia="0.001109895833 0.0015625 0.001109895833"/><geom name="p_bot_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.0625" 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="0.0685" 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="0.0685" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="handle" pos="-0.06 0 0.315"><joint name="j_handle" type="slide" axis="0.918 0 0.397" damping="150" frictionloss="0" range="-0.06 0" stiffness="300" springref="0.02"/><inertial pos="-0.06676125057 -0.002 -0.02882812525" mass="0.4" fullinertia="0.00009265569936 0.0005441873395 0.0004602498902 0 -0.0001946799008 0"/><geom name="handle_rod0" type="capsule" fromto="0 -0.002 0 -0.074 -0.002 -0.032" size="0.0055" contype="0" conaffinity="0" group="1" mass="0"/><geom name="handle_rod1" type="capsule" fromto="-0.074 -0.002 -0.032 -0.116 -0.002 -0.05" size="0.0075" contype="0" conaffinity="0" group="1" mass="0"/><body name="p_B" pos="0 0 0"><joint name="j_B" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000178675 0.00022188 0.000178675"/><geom name="p_B_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.043" 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_B_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.049" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_B_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.049" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
</body>
<body name="belt_l000" pos="0.0919967075 0 0.6192216622" quat="0.6794685901 0 -0.7337045966 0">
<freejoint name="belt_root0"/><inertial pos="0.0078264991 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142630652e-8 2.014075358e-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="0.0156529982 0 0" quat="0.9963753635 0 -0.08506547527 0"><joint name="belt_l001_s" type="slide" axis="0.9855277298 0 -0.1695142877" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497019 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142628584e-8 2.014075152e-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="0.01565299404 0 0" quat="0.9963746414 0 -0.08507393291 0"><joint name="belt_l002_s" type="slide" axis="0.9855248519 0 -0.1695310188" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497681 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629241e-8 2.014075217e-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="0.01565299536 0 0" quat="0.9963750645 0 -0.08506897754 0"><joint name="belt_l003_s" type="slide" axis="0.9855265381 0 -0.169521216" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826496157 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142627727e-8 2.014075066e-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="0.01565299231 0 0" quat="0.9963749404 0 -0.08507043068 0"><joint name="belt_l004_s" type="slide" axis="0.9855260436 0 -0.1695240906" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497437 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142628999e-8 2.014075193e-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="0.01565299487 0 0" quat="0.9963747654 0 -0.08507247978 0"><joint name="belt_l005_s" type="slide" axis="0.9855253464 0 -0.1695281442" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826496514 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142628081e-8 2.014075101e-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="0.01565299303 0 0" quat="0.9963752394 0 -0.08506692843 0"><joint name="belt_l006_s" type="slide" axis="0.9855272354 0 -0.1695171623" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826498369 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629925e-8 2.014075286e-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="0.01565299674 0 0" quat="0.9963744664 0 -0.08507598199 0"><joint name="belt_l007_s" type="slide" axis="0.9855241546 0 -0.1695350723" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826498089 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629647e-8 2.014075258e-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="0.01565299618 0 0" quat="0.9963753635 0 -0.08506547524 0"><joint name="belt_l008_s" type="slide" axis="0.9855277298 0 -0.1695142876" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497735 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629295e-8 2.014075223e-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="0.01565299547 0 0" quat="0.9963745173 0 -0.08507538604 0"><joint name="belt_l009_s" type="slide" axis="0.9855243574 0 -0.1695338934" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826498127 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629685e-8 2.014075262e-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></body></body></body></body></body></body></body></body></body>
<body name="belt_l010" pos="-0.01139850491 0 0.7112910495" quat="0.1045027715 0 0.9945245953 0">
<freejoint name="belt_root1"/><inertial pos="0.007826496367 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142627936e-8 2.014075087e-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="0.01565299273 0 0" quat="0.9963748163 0 -0.08507188382 0"><joint name="belt_l011_s" type="slide" axis="0.9855255492 0 -0.1695269652" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497395 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142628958e-8 2.014075189e-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="0.01565299479 0 0" quat="0.9963748895 0 -0.08507102664 0"><joint name="belt_l012_s" type="slide" axis="0.9855258409 0 -0.1695252695" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826496218 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142627787e-8 2.014075072e-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="0.01565299244 0 0" quat="0.9963751153 0 -0.08506838158 0"><joint name="belt_l013_s" type="slide" axis="0.9855267409 0 -0.169520037" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497839 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629399e-8 2.014075233e-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="0.01565299568 0 0" quat="0.9963745905 0 -0.08507452887 0"><joint name="belt_l014_s" type="slide" axis="0.9855246491 0 -0.1695321977" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497287 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.14262885e-8 2.014075178e-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 name="belt_l015" pos="0.01565299457 0 0" quat="0.9963753635 0 -0.08506547525 0"><joint name="belt_l015_s" type="slide" axis="0.9855277298 0 -0.1695142876" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00782649866 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142630215e-8 2.014075315e-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="0.01565299732 0 0" quat="0.9963743932 0 -0.08507683916 0"><joint name="belt_l016_s" type="slide" axis="0.9855238629 0 -0.169536768" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826498776 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142630329e-8 2.014075326e-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="0.01565299755 0 0" quat="0.9963753126 0 -0.08506607123 0"><joint name="belt_l017_s" type="slide" axis="0.985527527 0 -0.1695154666" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826496787 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142628353e-8 2.014075128e-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="0.01565299357 0 0" quat="0.9963746922 0 -0.08507333696 0"><joint name="belt_l018_s" type="slide" axis="0.9855250547 0 -0.1695298399" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826497556 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142629117e-8 2.014075205e-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="0.01565299511 0 0" quat="0.9963750136 0 -0.0850695735 0"><joint name="belt_l019_s" type="slide" axis="0.9855263353 0 -0.1695223949" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007826496132 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.142627702e-8 2.014075063e-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></body></body></body></body></body></body></body></body></body>
<body name="belt_l020" pos="-0.088980861 0 0.596625004" quat="0.7934408649 0 0.6086473478 0">
<freejoint name="belt_root2"/><inertial pos="0.007835970307 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152048117e-8 2.015017105e-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="0.01567194061 0 0" quat="0.999999999 0 -0.00004370622582 0"><joint name="belt_l021_s" type="slide" axis="0.9999999962 0 -0.00008741245157" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l026" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l030" pos="-0.04836344867 0 0.445260527" quat="0.7934674658 0 0.6086126689 0">
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<body name="belt_l031" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l031_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l031_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l036" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="0.9999972051 0 0.002364263922 0"><joint name="belt_l037_s" type="slide" axis="0.9999888205 0 0.004728514629" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835350222 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.151431202e-8 2.014955413e-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"/>
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<body name="belt_l039" pos="0.01559488037 0 0" quat="0.9971470537 0 0.07548346391 0"><joint name="belt_l039_s" type="slide" axis="0.9886044934 0 0.1505362273" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l040" pos="-0.01732018306 0 0.2930043171" quat="0.6635684781 0 0.7481155492 0">
<freejoint name="belt_root4"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l045" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l047_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l050" pos="-0.03602523474 0 0.1374051496" quat="0.6635684781 0 0.7481155492 0">
<freejoint name="belt_root5"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l058" pos="0.01563340928 0 0" quat="0.992629559 0 -0.1211881124 0"><joint name="belt_l058_s" type="slide" axis="0.9706268828 0 -0.2405898051" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00781670656 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132905652e-8 2.013102858e-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="0.01563341312 0 0" quat="0.9926292962 0 -0.1211902652 0"><joint name="belt_l059_s" type="slide" axis="0.9706258392 0 -0.2405940154" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007816709088 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132908161e-8 2.013103109e-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="0.02867195304 0 0.02374990243" quat="0.9945165607 0 -0.1045792069 0">
<freejoint name="belt_root6"/><inertial pos="0.007816707085 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132906173e-8 2.01310291e-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="0.01563341417 0 0" quat="0.992629559 0 -0.1211881124 0"><joint name="belt_l061_s" type="slide" axis="0.9706268828 0 -0.2405898051" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00781670462 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132903726e-8 2.013102666e-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_l063" pos="0.01563341378 0 0" quat="0.9926292521 0 -0.1211906262 0"><joint name="belt_l063_s" type="slide" axis="0.9706256643 0 -0.2405947212" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007816709081 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132908154e-8 2.013103108e-7"/><geom name="belt_l063_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_l064" pos="0.01563341816 0 0" quat="0.9926292719 0 -0.1211904642 0"><joint name="belt_l064_s" type="slide" axis="0.9706257428 0 -0.2405944045" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l064_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007816706739 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.13290583e-8 2.013102876e-7"/><geom name="belt_l064_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_l065" pos="0.01563341348 0 0" quat="0.992629559 0 -0.1211881124 0"><joint name="belt_l065_s" type="slide" axis="0.9706268828 0 -0.2405898051" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l065_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007816704626 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.132903732e-8 2.013102666e-7"/><geom name="belt_l065_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_l066" pos="0.01563340925 0 0" quat="0.9976425419 0 -0.06862476729 0"><joint name="belt_l066_s" type="slide" axis="0.9905812826 0 -0.1369259745" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l066_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835948538 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152026458e-8 2.015014939e-7"/><geom name="belt_l066_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_l067" pos="0.01567189708 0 0" quat="0.9999999608 0 -0.0002799433353 0"><joint name="belt_l067_s" type="slide" axis="0.9999998433 0 -0.0005598866487" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l068_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l069_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l070" pos="0.08801907721 0 0.149080197" quat="0.7100916116 0 -0.7041092977 0">
<freejoint name="belt_root7"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l071_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
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<body name="belt_l073" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l073_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l073_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l074_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
<body name="belt_l075" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l075_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l075_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l076_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
<body name="belt_l077" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l077_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l077_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l077_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_l078" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l078_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
<body name="belt_l079" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l079_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l079_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l079_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_l080" pos="0.08934495398 0 0.3057940187" quat="0.7100916116 0 -0.7041092977 0">
<freejoint name="belt_root8"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l080_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_l081" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l081_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l081_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l081_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_l082" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l082_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l082_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l083_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l083_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
<body name="belt_l084" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l084_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l084_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l084_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_l085" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l085_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l085_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l085_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_l086" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l086_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l087_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l088_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l088_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l089_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
</body></body></body></body></body></body></body></body></body></body>
<body name="belt_l090" pos="0.09067083074 0 0.4625078404" quat="0.7100916116 0 -0.7041092977 0">
<freejoint name="belt_root9"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l090_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_l091" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l091_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l091_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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"/>
<body name="belt_l092" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l092_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l092_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l092_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_l093" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l093_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l093_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l093_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_l094" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l094_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l094_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l094_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_l095" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l095_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l095_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-7"/><geom name="belt_l095_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_l096" pos="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l096_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l096_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l097_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l097_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l098_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l098_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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="0.01567194304 0 0" quat="1 0 0 0"><joint name="belt_l099_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l099_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007835971521 0 0" mass="0.001904538444" diaginertia="1.650599985e-7 4.152049325e-8 2.015017226e-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></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l009" body2="belt_l010" anchor="0.01565299625 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l019" body2="belt_l020" anchor="0.01565299226 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l029" body2="belt_l030" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l039" body2="belt_l040" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l049" body2="belt_l050" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l059" body2="belt_l060" anchor="0.01563341818 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l069" body2="belt_l070" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l079" body2="belt_l080" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l089" body2="belt_l090" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin9" body1="belt_l099" body2="belt_l000" anchor="0.01567194304 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/></equality>

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