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<body name="belt_l000" pos="-0.05944615385 0 0" quat="0.7401738279 0 0.6724155743 0">
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<body name="belt_l010" pos="0.01137899576 0 0" quat="0.9954091027 0 -0.09571164152 0"><joint name="belt_l010_s" type="slide" axis="0.9816785634 0 -0.1905444784" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005689497919 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506877e-7 3.216891796e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.01137899584 0 0" quat="0.9954096783 0 -0.09570565496 0"><joint name="belt_l011_s" type="slide" axis="0.9816808552 0 -0.1905326704" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005689497723 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506823e-7 3.216891742e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01137899545 0 0" quat="0.9954091594 0 -0.09571105163 0"><joint name="belt_l012_s" type="slide" axis="0.9816787892 0 -0.1905433149" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005689497773 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506837e-7 3.216891756e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01137899555 0 0" quat="0.9954096216 0 -0.09570624484 0"><joint name="belt_l013_s" type="slide" axis="0.9816806294 0 -0.1905338339" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005689497597 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506788e-7 3.216891707e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01137899519 0 0" quat="0.9954092161 0 -0.09571046174 0"><joint name="belt_l014_s" type="slide" axis="0.981679015 0 -0.1905421514" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005689497659 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506805e-7 3.216891724e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l015" pos="0.05735638287 0 -0.01562316654" quat="0.7646120834 0 -0.6444907773 0">
<freejoint name="belt_root1"/><inertial pos="0.005689497502 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175506762e-7 3.216891681e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.011378995 0 0" quat="0.9968813073 0 -0.07891551901 0"><joint name="belt_l016_s" type="slide" axis="0.9875446817 0 -0.1573388115" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005696587939 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177468735e-7 3.218853654e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l018" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l018_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l020_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l030" pos="0.05885942751 0 0.1551367026" quat="0.7057674495 0 -0.7084435808 0">
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<body name="belt_l045" pos="0.05821246028 0 0.3260821481" quat="0.7057674495 0 -0.7084435808 0">
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<body name="belt_l056" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l056_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l056_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l056_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l057" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l057_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l057_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l058" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l058_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l058_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l059" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l059_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l059_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l060" pos="0.05756549305 0 0.4970275935" quat="0.687354307 0 -0.7263222815 0">
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<body name="belt_l061" pos="0.01138365716 0 0" quat="0.9954786479 0 -0.09498558657 0"><joint name="belt_l061_s" type="slide" axis="0.9819554767 0 -0.1891122466" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688914479 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345544e-7 3.216730463e-7"/><geom name="belt_l061_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l063" pos="0.0113778302 0 0" quat="0.9951027278 0 -0.09884614914 0"><joint name="belt_l063_s" type="slide" axis="0.9804588776 0 -0.1967241453" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688914581 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345572e-7 3.216730492e-7"/><geom name="belt_l063_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l067" pos="0.01137783211 0 0" quat="0.9951023304 0 -0.09885014968 0"><joint name="belt_l067_s" type="slide" axis="0.9804572958 0 -0.1967320286" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688915957 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345953e-7 3.216730872e-7"/><geom name="belt_l067_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l069" pos="0.01137783165 0 0" quat="0.9951023557 0 -0.09884989464 0"><joint name="belt_l069_s" type="slide" axis="0.9804573967 0 -0.196731526" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688915949 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345951e-7 3.21673087e-7"/><geom name="belt_l069_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l070" pos="0.0113778319 0 0" quat="0.9951032031 0 -0.09884136332 0"><joint name="belt_l070_s" type="slide" axis="0.9804607698 0 -0.1967147145" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l070_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688914989 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345685e-7 3.216730604e-7"/><geom name="belt_l070_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l071" pos="0.01137782998 0 0" quat="0.9951025544 0 -0.09884789437 0"><joint name="belt_l071_s" type="slide" axis="0.9804581876 0 -0.1967275844" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.00568891533 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345779e-7 3.216730699e-7"/><geom name="belt_l071_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l072" pos="0.01137783066 0 0" quat="0.9951030045 0 -0.09884336362 0"><joint name="belt_l072_s" type="slide" axis="0.9804599789 0 -0.1967186562" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l072_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688914546 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345563e-7 3.216730482e-7"/><geom name="belt_l072_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l073" pos="0.01137782909 0 0" quat="0.9951027531 0 -0.09884589409 0"><joint name="belt_l073_s" type="slide" axis="0.9804589784 0 -0.1967236427" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l073_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688915091 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345713e-7 3.216730632e-7"/><geom name="belt_l073_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l074" pos="0.01137783018 0 0" quat="0.9951028058 0 -0.09884536391 0"><joint name="belt_l074_s" type="slide" axis="0.9804591881 0 -0.1967225979" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005688914494 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345548e-7 3.216730468e-7"/><geom name="belt_l074_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l075" pos="-0.05612823745 0 0.5127302628" quat="0.6619249337 0 0.7495701315 0">
<freejoint name="belt_root5"/><inertial pos="0.00568891523 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.175345752e-7 3.216730671e-7"/><geom name="belt_l075_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l076" pos="0.01137783046 0 0" quat="0.9982273196 0 -0.05951653903 0"><joint name="belt_l076_s" type="slide" axis="0.9929155632 0 -0.1188220705" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698179962 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177909595e-7 3.219294514e-7"/><geom name="belt_l076_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l077" pos="0.01139635992 0 0" quat="0.9999998374 0 -0.0005702111045 0"><joint name="belt_l077_s" type="slide" axis="0.9999993497 0 -0.001140422024" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l077_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l077_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l078" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l078_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l078_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l090" pos="-0.05815262985 0 0.3418908921" quat="0.7057674495 0 0.7084435808 0">
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<body name="belt_l105" pos="-0.05879959708 0 0.1709454466" quat="0.7057674495 0 0.7084435808 0">
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<body name="belt_l112" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l112_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l112_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l112_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l113" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l113_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l113_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l114" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l114_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l114_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l114_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l115" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l115_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l115_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l116_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l116_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l117_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l117_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.01139644465 0 0" quat="1 0 0 0"><joint name="belt_l118_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222325 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921327e-7 3.219306247e-7"/><geom name="belt_l118_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.01139644465 0 0" quat="0.9999999998 0 -0.00001800861538 0"><joint name="belt_l119_s" type="slide" axis="0.9999999994 0 -0.00003601723076" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005698222098 0 0" mass="0.007290660426" diaginertia="2.819055365e-7 1.177921265e-7 3.219306184e-7"/><geom name="belt_l119_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 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>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l014" body2="belt_l015" anchor="0.01137899532 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.01139644465 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.01139644465 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.01139644465 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.01137782899 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.01139644465 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.01139644465 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.0113964442 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/></equality>

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