<mujoco model="23-a-contrivance-for-transmitting-rotary-motion-to-a-movable-pulley">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="25" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="weight_C" pos="0.53 0 0.12"><joint name="j_C" type="slide" axis="0 0 1" damping="60" frictionloss="0" range="-0.13 0.04"/><inertial pos="0 0 0" mass="9" diaginertia="0.019425 0.0219 0.019425"/><geom name="weight_C_g" type="box" size="0.04 0.04 0.07" contype="0" conaffinity="0" group="2" mass="0"/></body>
<body name="driver" pos="0 0 0.12"><joint name="j_driver" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="3" diaginertia="0.0052 0.00768 0.0052"/><geom name="driver_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.08" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="driver_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.086" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="driver_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.086" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="movable" pos="0.43 0 -0.07"><joint name="j_movable" type="slide" axis="0 0 1" damping="80" frictionloss="0" range="-0.04 0.08" stiffness="8000" springref="0"/><joint name="movable_spin" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0.06"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0010371 0.001452 0.0010371"/><geom name="movable_rim" condim="3" type="capsule" fromto="0 -0.018 0 0 0.018 0" size="0.055" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="movable_flangeL" type="cylinder" fromto="0 -0.018 0 0 -0.0234 0" size="0.061" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="movable_flangeR" type="cylinder" fromto="0 0.018 0 0 0.0234 0" size="0.061" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="Aframe" pos="0.34 0 0.16"><joint name="j_A" type="slide" axis="0 0 1" damping="40" frictionloss="0" range="-0.06 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.02434828099" mass="0.25" fullinertia="0.0002912946989 0.0002371138578 0.00008853944055 0 0 0"/><body name="A" pos="0 0 0"><joint name="j_Ap" type="hinge" axis="0 1 0" damping="0.001" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" diaginertia="0.00035495 0.000486 0.00035495"/><geom name="A_rim" condim="3" type="capsule" fromto="0 -0.016 0 0 0.016 0" size="0.045" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="A_flangeL" type="cylinder" fromto="0 -0.016 0 0 -0.0208 0" size="0.05" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="A_flangeR" type="cylinder" fromto="0 0.016 0 0 0.0208 0" size="0.05" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
</body>
<body name="B1" pos="0.34 0 0.28"><joint name="j_B1" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.0001066666667 0.000128 0.0001066666667"/><geom name="B1_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="B1_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.024" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="B1_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.024" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="B2" pos="0.51 0 0.28"><joint name="j_B2" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="0.8" diaginertia="0.0001066666667 0.000128 0.0001066666667"/><geom name="B2_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.02" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="B2_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.024" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/><geom name="B2_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.024" contype="1" conaffinity="2" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/></body>
<body name="jib" pos="0 0 0"></body>
<body name="belt_l000" pos="-0.082 0 0.12" quat="0.7654375735 0 0.6435101562 0">
<freejoint name="belt_root0"/><inertial pos="0.01408644884 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.318206648e-7 5.204111546e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.02817289769 0 0" quat="0.9851347589 0 -0.1717833137 0"><joint name="belt_l001_s" type="slide" axis="0.9409809863 0 -0.3384594266" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01408644609 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.318205759e-7 5.204110657e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.02817289218 0 0" quat="0.9851339151 0 -0.1717881522 0"><joint name="belt_l002_s" type="slide" axis="0.9409776615 0 -0.3384686699" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01408644668 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.318205949e-7 5.204110847e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.02817289335 0 0" quat="0.9886312183 0 -0.1503606138 0"><joint name="belt_l003_s" type="slide" axis="0.9547833716 0 -0.2973023937" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01413487536 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.333857648e-7 5.219762546e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.02826975072 0 0" quat="0.9997704259 0 -0.02142651546 0"><joint name="belt_l004_s" type="slide" axis="0.9990818089 0 -0.04284319298" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l005_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l006_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body>
<body name="belt_l007" pos="0.06358118515 0 0.008148788187" quat="0.9835866771 0 0.1804362732 0">
<freejoint name="belt_root1"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l008_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l009_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l010_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l011_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l012_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body>
<body name="belt_l013" pos="0.222399583 0 -0.05215003925" quat="0.9835866771 0 0.1804362732 0">
<freejoint name="belt_root2"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l014_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l015" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l015_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l016_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l017_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l018_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body>
<body name="belt_l020" pos="0.4076877139 0 -0.1224986713" quat="0.9971125438 0 0.07593796873 0">
<freejoint name="belt_root3"/><inertial pos="0.01401638343 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.295657233e-7 5.181562131e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.02803276685 0 0" quat="0.9695015583 0 -0.2450851453 0"><joint name="belt_l021_s" type="slide" axis="0.8798665431 0 -0.4752208605" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01401157694 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.294114463e-7 5.180019362e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.02802315387 0 0" quat="0.9693162054 0 -0.2458171961 0"><joint name="belt_l022_s" type="slide" axis="0.8791478122 0 -0.4765491834" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01401157306 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.294113219e-7 5.180018117e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l026" pos="0.4685880323 0 -0.01608346254" quat="0.5468978664 0 -0.8371993333 0">
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<body name="belt_l032" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l032_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-7"/><geom name="belt_l032_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l033" pos="0.3889528469 0 0.1654071948" quat="0.517559164 0 -0.8556474225 0">
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<body name="belt_l038" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l038_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-7"/><geom name="belt_l038_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l039" pos="0.2392422817 0 0.2055244509" quat="0.007346800139 0 0.9999730119 0">
<freejoint name="belt_root6"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l044" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.014 0 0 0.014 0" size="0.002" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l045" pos="0.02831334201 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l046" pos="0.04107028279 0 0.202612355" quat="0.007346800139 0 0.9999730119 0">
<freejoint name="belt_root7"/><inertial pos="0.01415667101 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.340919326e-7 5.226824224e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="belt_l047" pos="0.02831334201 0 0" quat="0.999754668 0 -0.02214958029 0"><joint name="belt_l047_s" type="slide" axis="0.9990187922 0 -0.04428829257" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01413399377 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.333572247e-7 5.219477145e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="belt_l049" pos="0.02817288887 0 0" quat="0.9851345486 0 -0.1717845193 0"><joint name="belt_l049_s" type="slide" axis="0.9409801578 0 -0.3384617298" stiffness="100000" springref="-0.00084" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.01408644668 0 0" mass="0.00343560107" diaginertia="2.977520927e-7 2.318205949e-7 5.204110847e-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="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
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<body name="rope_l000" pos="0.34 0 0.212" quat="0.568796459 0 -0.8224783208 0">
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<body name="rope_l029" pos="0.01296508062 0 0" quat="1 0 0 0"><joint name="rope_l029_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.00022" damping="600"/><joint name="rope_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006482540311 0 0" mass="0.0009104092892" diaginertia="7.283274313e-9 1.639444682e-8 1.639444682e-8"/><geom name="rope_l029_c" type="capsule" fromto="0 0 0 0.01296508062 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_l030" pos="0.01296508062 0 0" quat="1 0 0 0"><joint name="rope_l030_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.00022" damping="600"/><joint name="rope_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006482540311 0 0" mass="0.0009104092892" diaginertia="7.283274313e-9 1.639444682e-8 1.639444682e-8"/><geom name="rope_l030_c" type="capsule" fromto="0 0 0 0.01296508062 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_l031" pos="0.01296508062 0 0" quat="1 0 0 0"><joint name="rope_l031_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.00022" damping="600"/><joint name="rope_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006482540311 0 0" mass="0.0009104092892" diaginertia="7.283274313e-9 1.639444682e-8 1.639444682e-8"/><geom name="rope_l031_c" type="capsule" fromto="0 0 0 0.01296508062 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_l032" pos="0.01296508062 0 0" quat="1 0 0 0"><joint name="rope_l032_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.00022" damping="600"/><joint name="rope_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006482540311 0 0" mass="0.0009104092892" diaginertia="7.283274313e-9 1.639444682e-8 1.639444682e-8"/><geom name="rope_l032_c" type="capsule" fromto="0 0 0 0.01296508062 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
<body name="rope_l033" pos="0.01296508062 0 0" quat="1 0 0 0"><joint name="rope_l033_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.00022" damping="600"/><joint name="rope_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006482540311 0 0" mass="0.0009104092892" diaginertia="7.283274313e-9 1.639444682e-8 1.639444682e-8"/><geom name="rope_l033_c" type="capsule" fromto="0 0 0 0.01296508062 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0006 1" solimp="0.95 0.99 0.0005" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l006" body2="belt_l007" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l012" body2="belt_l013" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l019" body2="belt_l020" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l025" body2="belt_l026" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l032" body2="belt_l033" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l038" body2="belt_l039" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l045" body2="belt_l046" anchor="0.02831334201 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l051" body2="belt_l000" anchor="0.02817289769 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="rope_eyeA" body1="rope_l000" body2="Aframe" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="rope_eyeB" body1="rope_l033" body2="weight_C" anchor="0.01296508062 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="rope_l000" body2="Aframe"/><exclude body1="rope_l033" body2="weight_C"/></contact>
<actuator><velocity name="drive" joint="j_driver" kv="4" forcerange="-8 8"/></actuator>
</mujoco>
