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<body name="belt_l010" pos="-0.03364523621 0.08 0.02697868415" quat="0.7276068719 0 0.685994344 0">
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<body name="belt_l015" pos="-0.005630384035 0.08 -0.03150073944" quat="0.9997240831 0 -0.02348952288 0">
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<body name="belt_l019" pos="0.01423409153 0 0" quat="0.9977768152 0 -0.06664403172 0"><joint name="belt_l019_s" type="slide" axis="0.9911171461 0 -0.1329917395" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007163327123 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.644147567e-7 4.497679964e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l020" pos="0.03297937145 0.08 0.01567858262" quat="0.7276068719 0 -0.685994344 0">
<freejoint name="belt_root4"/><inertial pos="0.007163327123 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.644147567e-7 4.497679964e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l025" pos="0.03719309261 0.08 0.0871878135" quat="0.7276068719 0 -0.685994344 0">
<freejoint name="belt_root5"/><inertial pos="0.007163327123 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.644147567e-7 4.497679964e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l030" pos="0.04140681377 0.08 0.1586970444" quat="0.7189984278 0 -0.6950116984 0">
<freejoint name="belt_root6"/><inertial pos="0.007157786821 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.641789143e-7 4.49532154e-7"/><geom name="belt_l030_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l034" pos="0.01425729214 0 0" quat="0.9854905424 0 -0.1697303475 0"><joint name="belt_l034_s" type="slide" axis="0.9423832183 0 -0.3345353045" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l034_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007128648371 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629415377e-7 4.482947774e-7"/><geom name="belt_l034_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l035" pos="0.005642736968 0.08 0.2116192066" quat="0.01789841042 0 0.9998398106 0">
<freejoint name="belt_root7"/><inertial pos="0.007128646783 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629414704e-7 4.482947101e-7"/><geom name="belt_l035_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l036" pos="0.01425729357 0 0" quat="0.9854907176 0 -0.16972933 0"><joint name="belt_l036_s" type="slide" axis="0.9423839091 0 -0.3345333585" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007128643821 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629413449e-7 4.482945846e-7"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l037" pos="0.01425728764 0 0" quat="0.9854907176 0 -0.1697293302 0"><joint name="belt_l037_s" type="slide" axis="0.942383909 0 -0.3345333588" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007128643145 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629413163e-7 4.482945559e-7"/><geom name="belt_l037_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l038" pos="0.01425728629 0 0" quat="0.9854907176 0 -0.1697293301 0"><joint name="belt_l038_s" type="slide" axis="0.942383909 0 -0.3345333587" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007128644756 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629413845e-7 4.482946242e-7"/><geom name="belt_l038_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l039" pos="0.01425728951 0 0" quat="0.9854907176 0 -0.1697293299 0"><joint name="belt_l039_s" type="slide" axis="0.9423839091 0 -0.3345333583" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007128648652 0 0" mass="0.008917288739" diaginertia="3.091326763e-7 1.629415497e-7 4.482947893e-7"/><geom name="belt_l039_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.002" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.0008 1" solimp="0.95 0.99 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l004" body2="belt_l005" anchor="0.01432665425 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l009" body2="belt_l010" anchor="0.01432665425 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l014" body2="belt_l015" anchor="0.01420729054 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l019" body2="belt_l020" anchor="0.01432665425 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l024" body2="belt_l025" anchor="0.01432665425 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l029" body2="belt_l030" anchor="0.01432665425 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l034" body2="belt_l035" anchor="0.01425729674 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l039" body2="belt_l000" anchor="0.0142572973 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/></equality>

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