<mujoco model="11-right-angle-belt-transition">
<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="drum" pos="-0.06 0.03 0.5" quat="1 0 0 0"><joint name="j_drum" type="hinge" axis="1 0 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="1.194075028" fullinertia="0.0003634933888 0.002218249482 0.00221824933 5.667129443e-11 0 0"/><body name="p_drum_w" pos="0 0 0" quat="0.7071068 0 0 -0.7071068"><geom name="p_drum_w_rim" condim="3" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.03" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drum_w_flangeL" type="cylinder" fromto="0 -0.008 0 0 -0.026 0" size="0.034" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drum_w_flangeR" type="cylinder" fromto="0 0.008 0 0 0.026 0" size="0.034" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="drum_shaft" type="capsule" fromto="-0.11 0 0 0.11 0 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="p_low" pos="0 0 0"><joint name="j_low" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.0007584 0.001152 0.0007584"/><geom name="p_low_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.06" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_low_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0096 0" size="0.065" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_low_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0096 0" size="0.065" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="belt_l000" pos="-0.05999999826 0.06273858787 0.4958545231" quat="0.7069596747 0.01442280424 -0.7069596762 -0.01442280421">
<freejoint name="belt_root0"/><inertial pos="0.005477207079 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618899303e-9 3.618899303e-9"/><geom name="belt_l000_c" type="capsule" fromto="0 0 0 0.01095441416 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.01095441416 0 0" quat="0.9861298806 1.531119639e-9 -9.097023639e-9 -0.1659754758"><joint name="belt_l001_s" type="slide" axis="0.9449042829 0.3273467522 -1.844995029e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l001_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477203967 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618895945e-9 3.618895945e-9"/><geom name="belt_l001_c" type="capsule" fromto="0 0 0 0.01095440793 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.01095440793 0 0" quat="0.9861298816 1.620396465e-9 -9.627455042e-9 -0.1659754699"><joint name="belt_l002_s" type="slide" axis="0.9449042868 0.3273467409 -1.952573433e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l002_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477202981 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618894882e-9 3.618894882e-9"/><geom name="belt_l002_c" type="capsule" fromto="0 0 0 0.01095440596 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.01095440596 0 0" quat="0.986129883 1.714878764e-9 -1.018881452e-8 -0.1659754617"><joint name="belt_l003_s" type="slide" axis="0.9449042922 0.3273467252 -2.066424453e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l003_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477204123 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618896113e-9 3.618896113e-9"/><geom name="belt_l003_c" type="capsule" fromto="0 0 0 0.01095440825 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.01095440825 0 0" quat="0.9861298507 1.814874803e-9 -1.078292016e-8 -0.1659756533"><joint name="belt_l004_s" type="slide" axis="0.944904165 0.3273470924 -2.186916896e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l004_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477207018 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618899237e-9 3.618899237e-9"/><geom name="belt_l004_c" type="capsule" fromto="0 0 0 0.01095441404 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.01095441404 0 0" quat="0.9861294481 1.920754803e-9 -1.14118278e-8 -0.1659780455"><joint name="belt_l005_s" type="slide" axis="0.9449025769 0.3273516767 -2.314468516e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l005_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477206795 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618898997e-9 3.618898997e-9"/><geom name="belt_l005_c" type="capsule" fromto="0 0 0 0.01095441359 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.01095441359 0 0" quat="0.9861298843 2.032688233e-9 -1.207705457e-8 -0.1659754537"><joint name="belt_l006_s" type="slide" axis="0.9449042975 0.32734671 -2.449384155e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l006_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477203831 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618895799e-9 3.618895799e-9"/><geom name="belt_l006_c" type="capsule" fromto="0 0 0 0.01095440766 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.01095440766 0 0" quat="0.9861298832 2.151210842e-9 -1.278124666e-8 -0.1659754602"><joint name="belt_l007_s" type="slide" axis="0.9449042932 0.3273467225 -2.592203496e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l007_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005477202993 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618894894e-9 3.618894894e-9"/><geom name="belt_l007_c" type="capsule" fromto="0 0 0 0.01095440599 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.01095440599 0 0" quat="0.9861298818 2.276644352e-9 -1.35264991e-8 -0.1659754686"><joint name="belt_l008_s" type="slide" axis="0.9449042877 0.3273467384 -2.743350415e-8" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l008_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00547720428 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.618896283e-9 3.618896283e-9"/><geom name="belt_l008_c" type="capsule" fromto="0 0 0 0.01095440856 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.01095440856 0 0" quat="0.9863908959 -0.003858315669 0.02339171798 -0.1626989285"><joint name="belt_l009_s" type="slide" axis="0.9459637724 0.3207889784 0.04740224295" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l009_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005456710939 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.596830974e-9 3.596830974e-9"/><geom name="belt_l009_c" type="capsule" fromto="0 0 0 0.01091342188 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 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="-0.05951008412 -0.002987237262 0.4978358867" quat="0.01419811947 0.7880701764 0.01489465148 -0.6152413833">
<freejoint name="belt_root1"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l010_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l011_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l011_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l011_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l012_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l012_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l012_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l013_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l013_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l013_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l014_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l014_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l014_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l015" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l015_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l015_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l015_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l016_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l016_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l016_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l017_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l017_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l017_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l018_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l018_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l018_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l019_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l019_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 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="-0.03282076405 -0.002326309175 0.3910697794" quat="0.01419811947 0.7880701764 0.01489465148 -0.6152413833">
<freejoint name="belt_root2"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l020_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l021_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l021_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l060" pos="0.05220998104 0 -0.0352577445" quat="-0.008212823588 -0.4301502656 -0.01723241688 0.9025554511">
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<body name="belt_l070" pos="-0.04385852954 0 -0.04522641513" quat="0.00680792814 0.4156284037 -0.01489561738 0.9093870478">
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<body name="belt_l100" pos="-0.06132161639 0.03508915072 0.2774951974" quat="0.05590214766 0.7070199213 0.03315719558 0.7042005263">
<freejoint name="belt_root10"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l100_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l101" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l101_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l101_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l101_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l101_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l102" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l102_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l102_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l102_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l103_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l103_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l103_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l104" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l104_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l104_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l104_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l105" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l105_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l105_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l105_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l105_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l106" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l106_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l106_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l106_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l106_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l107" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l107_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l107_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l107_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l107_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l108" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l108_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l108_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l108_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l108_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l109" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l109_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l109_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l109_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 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_l110" pos="-0.06066080732 0.04891386929 0.3866748603" quat="0.05590214766 0.7070199213 0.03315719558 0.7042005263">
<freejoint name="belt_root11"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l110_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l111" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l111_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l111_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l111_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l111_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l112" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l112_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l112_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l112_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l112_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l113" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l113_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l113_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l113_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l114" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l114_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l114_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l114_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l114_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l115" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l115_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l115_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l115_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l116_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l116_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l116_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l117_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l117_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l117_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l118_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l118_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l118_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.01100534338 0 0" quat="1 0 0 0"><joint name="belt_l119_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l119_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005502671691 0 0" mass="0.00029542198" diaginertia="1.32939891e-9 3.646432468e-9 3.646432468e-9"/><geom name="belt_l119_c" type="capsule" fromto="0 0 0 0.01100534338 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l009" body2="belt_l010" anchor="0.01091342188 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l019" body2="belt_l020" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l029" body2="belt_l030" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l039" body2="belt_l040" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l049" body2="belt_l050" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l059" body2="belt_l060" anchor="0.01099134688 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l069" body2="belt_l070" anchor="0.0109913585 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l079" body2="belt_l080" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l089" body2="belt_l090" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin9" body1="belt_l099" body2="belt_l100" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin10" body1="belt_l109" body2="belt_l110" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin11" body1="belt_l119" body2="belt_l000" anchor="0.01100534338 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="belt_l009" body2="belt_l010"/><exclude body1="belt_l019" body2="belt_l020"/><exclude body1="belt_l029" body2="belt_l030"/><exclude body1="belt_l039" body2="belt_l040"/><exclude body1="belt_l049" body2="belt_l050"/><exclude body1="belt_l059" body2="belt_l060"/><exclude body1="belt_l069" body2="belt_l070"/><exclude body1="belt_l079" body2="belt_l080"/><exclude body1="belt_l089" body2="belt_l090"/><exclude body1="belt_l099" body2="belt_l100"/><exclude body1="belt_l109" body2="belt_l110"/><exclude body1="belt_l119" body2="belt_l000"/></contact>
<actuator><velocity name="drive" joint="j_drum" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
