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<body name="belt_l012" pos="0.042 0.064 0.04402658015" quat="0.7071067812 0 -0.7071067812 0">
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<body name="belt_l018" pos="0.042 0.064 0.1320132901" quat="0.7071067812 0 -0.7071067812 0">
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<body name="belt_l024" pos="0.042 0.064 0.22" quat="0.6427699784 0 -0.7660592372 0">
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<body name="belt_l030" pos="-0.02101916628 0.064 0.2563619637" quat="0.3422891548 0 0.939594665 0">
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<body name="belt_l036" pos="-0.042 0.064 0.1759734199" quat="0.7071067812 0 0.7071067812 0">
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<body name="belt_l042" pos="-0.042 0.064 0.08798670993" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="belt_root7"/><inertial pos="0.007332225827 0 0" mass="0.009133212915" diaginertia="3.166180477e-7 1.758494676e-7 4.681122809e-7"/><geom name="belt_l042_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_l044" pos="0.01466445165 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007332225827 0 0" mass="0.009133212915" diaginertia="3.166180477e-7 1.758494676e-7 4.681122809e-7"/><geom name="belt_l044_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_l045" pos="0.01466445165 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007332225827 0 0" mass="0.009133212915" diaginertia="3.166180477e-7 1.758494676e-7 4.681122809e-7"/><geom name="belt_l045_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_l046" pos="0.01466445165 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007332225827 0 0" mass="0.009133212915" diaginertia="3.166180477e-7 1.758494676e-7 4.681122809e-7"/><geom name="belt_l046_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_l047" pos="0.01466445165 0 0" quat="1 0 0 0"><joint name="belt_l047_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.001666666667" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007332225827 0 0" mass="0.009133212915" diaginertia="3.166180477e-7 1.758494676e-7 4.681122809e-7"/><geom name="belt_l047_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></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_l005" body2="belt_l006" anchor="0.01459007682 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l011" body2="belt_l012" anchor="0.01466445165 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l017" body2="belt_l018" anchor="0.01466445165 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l023" body2="belt_l024" anchor="0.01466445165 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l029" body2="belt_l030" anchor="0.01459007682 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l035" body2="belt_l036" anchor="0.01466445165 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l041" body2="belt_l042" anchor="0.01466445165 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l047" body2="belt_l000" anchor="0.01466445165 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>
