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<body name="belt_l007" pos="0.002582230297 0 -0.07195360794" quat="0.9971649844 0 -0.07524622116 0">
<freejoint name="belt_root1"/><inertial pos="0.008244731387 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.47131367e-7 5.767515808e-7"/><geom name="belt_l007_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_l008" pos="0.01648946277 0 0" quat="0.9934221445 0 -0.1145095753 0"><joint name="belt_l008_s" type="slide" axis="0.9737751143 0 -0.2275126957" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244731304 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471313623e-7 5.767515761e-7"/><geom name="belt_l008_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_l009" pos="0.01648946261 0 0" quat="0.9934221445 0 -0.1145095754 0"><joint name="belt_l009_s" type="slide" axis="0.9737751143 0 -0.2275126959" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244733943 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471315117e-7 5.767517255e-7"/><geom name="belt_l009_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_l010" pos="0.01648946789 0 0" quat="0.9934220166 0 -0.1145106849 0"><joint name="belt_l010_s" type="slide" axis="0.9737746061 0 -0.227514871" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244737177 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316948e-7 5.767519086e-7"/><geom name="belt_l010_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_l011" pos="0.01648947435 0 0" quat="0.9934218357 0 -0.1145122546 0"><joint name="belt_l011_s" type="slide" axis="0.9737738871 0 -0.2275179483" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244735833 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316187e-7 5.767518325e-7"/><geom name="belt_l011_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_l012" pos="0.01648947167 0 0" quat="0.9934221445 0 -0.1145095755 0"><joint name="belt_l012_s" type="slide" axis="0.9737751142 0 -0.2275126961" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244732068 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471314055e-7 5.767516193e-7"/><geom name="belt_l012_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_l013" pos="0.01648946414 0 0" quat="0.9940481794 0 -0.1089413467 0"><joint name="belt_l013_s" type="slide" axis="0.976263566 0 -0.2165858946" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008251448508 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.475118271e-7 5.771320409e-7"/><geom name="belt_l013_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></body>
<body name="belt_l014" pos="0.072 0 0.005165571462" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="belt_root2"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l014_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_l015" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l015_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l015_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_l016" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l016_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l016_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_l017" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l017_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l017_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_l018" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l018_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l018_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_l019" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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"/>
</body></body></body></body></body></body>
<body name="belt_l020" pos="0.072 0 0.1043199231" quat="0.7071067812 0 -0.7071067812 0">
<freejoint name="belt_root3"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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"/>
<body name="belt_l021" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l021_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_l022" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l022_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_l023" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l023_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_l024" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l024_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_l025" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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"/>
<body name="belt_l026" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l026_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></body>
<body name="belt_l027" pos="0.072 0 0.22" quat="0.6653895987 0 -0.7464962705 0">
<freejoint name="belt_root4"/><inertial pos="0.008244737451 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471317103e-7 5.767519241e-7"/><geom name="belt_l027_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_l028" pos="0.0164894749 0 0" quat="0.9934221445 0 -0.1145095756 0"><joint name="belt_l028_s" type="slide" axis="0.9737751142 0 -0.2275126963" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244732889 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.47131452e-7 5.767516658e-7"/><geom name="belt_l028_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_l029" pos="0.01648946578 0 0" quat="0.9934221445 0 -0.1145095754 0"><joint name="belt_l029_s" type="slide" axis="0.9737751143 0 -0.2275126958" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l029_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244731047 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471313477e-7 5.767515615e-7"/><geom name="belt_l029_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_l030" pos="0.01648946209 0 0" quat="0.9934221445 0 -0.1145095753 0"><joint name="belt_l030_s" type="slide" axis="0.9737751143 0 -0.2275126958" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l030_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244731926 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471313975e-7 5.767516113e-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"/>
<body name="belt_l031" pos="0.01648946385 0 0" quat="0.9934221445 0 -0.1145095755 0"><joint name="belt_l031_s" type="slide" axis="0.9737751142 0 -0.2275126961" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l031_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244735527 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316013e-7 5.767518152e-7"/><geom name="belt_l031_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_l032" pos="0.01648947105 0 0" quat="0.9934218622 0 -0.1145120244 0"><joint name="belt_l032_s" type="slide" axis="0.9737739926 0 -0.227517497" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244737148 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316932e-7 5.76751907e-7"/><geom name="belt_l032_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_l033" pos="0.0164894743 0 0" quat="0.9934219901 0 -0.1145109151 0"><joint name="belt_l033_s" type="slide" axis="0.9737745006 0 -0.2275153223" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244734191 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471315257e-7 5.767517395e-7"/><geom name="belt_l033_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></body>
<body name="belt_l034" pos="-0.002582230297 0 0.2919536079" quat="0.07524622116 0 0.9971649844 0">
<freejoint name="belt_root5"/><inertial pos="0.008244731387 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.47131367e-7 5.767515808e-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"/>
<body name="belt_l035" pos="0.01648946277 0 0" quat="0.9934221445 0 -0.1145095753 0"><joint name="belt_l035_s" type="slide" axis="0.9737751143 0 -0.2275126957" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l035_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244731304 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471313623e-7 5.767515761e-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="0.01648946261 0 0" quat="0.9934221445 0 -0.1145095754 0"><joint name="belt_l036_s" type="slide" axis="0.9737751143 0 -0.2275126959" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244733943 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471315117e-7 5.767517255e-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="0.01648946789 0 0" quat="0.9934220166 0 -0.1145106849 0"><joint name="belt_l037_s" type="slide" axis="0.9737746061 0 -0.227514871" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244737177 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316948e-7 5.767519086e-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="0.01648947435 0 0" quat="0.9934218357 0 -0.1145122546 0"><joint name="belt_l038_s" type="slide" axis="0.9737738871 0 -0.2275179483" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244735833 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471316187e-7 5.767518325e-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="0.01648947167 0 0" quat="0.9934221445 0 -0.1145095755 0"><joint name="belt_l039_s" type="slide" axis="0.9737751142 0 -0.2275126961" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008244732068 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.471314055e-7 5.767516193e-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 name="belt_l040" pos="0.01648946414 0 0" quat="0.9940481794 0 -0.1089413467 0"><joint name="belt_l040_s" type="slide" axis="0.976263566 0 -0.2165858946" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l040_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008251448508 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.475118271e-7 5.771320409e-7"/><geom name="belt_l040_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></body>
<body name="belt_l041" pos="-0.072 0 0.2148344285" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="belt_root6"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l041_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_l042" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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"/>
<body name="belt_l043" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l043_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_l044" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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></body></body></body></body></body>
<body name="belt_l047" pos="-0.072 0 0.1156800769" quat="0.7071067812 0 0.7071067812 0">
<freejoint name="belt_root7"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-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 name="belt_l048" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l048_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_l049" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l049_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_l050" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l050_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l050_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l050_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_l051" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l051_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_l052" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l052_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l052_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l052_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_l053" pos="0.01652572527 0 0" quat="1 0 0 0"><joint name="belt_l053_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.0025" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008262862636 0 0" mass="0.01030063168" diaginertia="3.57088565e-7 2.48159038e-7 5.777792518e-7"/><geom name="belt_l053_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></body>
<body name="belt_C_l000" pos="-0.072 -0.1 0" quat="0.746245357 0 0.6656709902 0">
<freejoint name="belt_C_root0"/><inertial pos="0.008190702648 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423295592e-7 5.695826167e-7"/><geom name="belt_C_l000_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_C_l001" pos="0.0163814053 0 0" quat="0.9935085213 0 -0.1137577169 0"><joint name="belt_C_l001_s" type="slide" axis="0.9741183637 0 -0.2260385222" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190698254 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423293138e-7 5.695823713e-7"/><geom name="belt_C_l001_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_C_l002" pos="0.01638139651 0 0" quat="0.9935085213 0 -0.1137577169 0"><joint name="belt_C_l002_s" type="slide" axis="0.9741183637 0 -0.2260385223" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190701723 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423295075e-7 5.69582565e-7"/><geom name="belt_C_l002_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_C_l003" pos="0.01638140345 0 0" quat="0.9935078596 0 -0.1137634958 0"><joint name="belt_C_l003_s" type="slide" axis="0.974115734 0 -0.2260498544" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190702229 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423295358e-7 5.695825933e-7"/><geom name="belt_C_l003_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_C_l004" pos="0.01638140446 0 0" quat="0.9935084331 0 -0.1137584867 0"><joint name="belt_C_l004_s" type="slide" axis="0.9741180134 0 -0.2260400318" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190698362 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423293198e-7 5.695823773e-7"/><geom name="belt_C_l004_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_C_l005" pos="0.01638139672 0 0" quat="0.9935085213 0 -0.113757717 0"><joint name="belt_C_l005_s" type="slide" axis="0.9741183637 0 -0.2260385223" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190700908 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.42329462e-7 5.695825195e-7"/><geom name="belt_C_l005_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>
<body name="belt_C_l006" pos="-0.01449584709 -0.1 -0.07052564792" quat="0.9990165261 0 0.04433937949 0">
<freejoint name="belt_C_root1"/><inertial pos="0.008190701922 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423295186e-7 5.695825761e-7"/><geom name="belt_C_l006_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_C_l007" pos="0.01638140384 0 0" quat="0.993508345 0 -0.1137592565 0"><joint name="belt_C_l007_s" type="slide" axis="0.9741176631 0 -0.2260415414" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00819069858 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.42329332e-7 5.695823895e-7"/><geom name="belt_C_l007_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_C_l008" pos="0.01638139716 0 0" quat="0.9935085213 0 -0.113757717 0"><joint name="belt_C_l008_s" type="slide" axis="0.9741183636 0 -0.2260385224" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.0081907002 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423294225e-7 5.6958248e-7"/><geom name="belt_C_l008_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_C_l009" pos="0.0163814004 0 0" quat="0.9935080359 0 -0.1137619561 0"><joint name="belt_C_l009_s" type="slide" axis="0.9741164347 0 -0.226046835" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190701726 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423295077e-7 5.695825652e-7"/><geom name="belt_C_l009_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_C_l010" pos="0.01638140345 0 0" quat="0.9935082568 0 -0.1137600264 0"><joint name="belt_C_l010_s" type="slide" axis="0.9741173128 0 -0.226043051" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190698906 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423293502e-7 5.695824077e-7"/><geom name="belt_C_l010_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_C_l011" pos="0.01638139781 0 0" quat="0.9935085213 0 -0.113757717 0"><joint name="belt_C_l011_s" type="slide" axis="0.9741183636 0 -0.2260385224" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008190699602 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423293891e-7 5.695824466e-7"/><geom name="belt_C_l011_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>
<body name="belt_C_l012" pos="0.06616302342 -0.1 -0.02839802954" quat="0.8022839712 0 -0.596942568 0">
<freejoint name="belt_C_root2"/><inertial pos="0.008190701642 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.42329503e-7 5.695825605e-7"/><geom name="belt_C_l012_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_C_l013" pos="0.01638140328 0 0" quat="0.9935081687 0 -0.1137607962 0"><joint name="belt_C_l013_s" type="slide" axis="0.9741169625 0 -0.2260445607" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00819069934 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.423293745e-7 5.69582432e-7"/><geom name="belt_C_l013_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_C_l014" pos="0.01638139868 0 0" quat="0.9951505638 0 -0.09836338401 0"><joint name="belt_C_l014_s" type="slide" axis="0.9806492894 0 -0.1957727541" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008203468901 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.430430122e-7 5.702960697e-7"/><geom name="belt_C_l014_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_C_l015" pos="0.0164069378 0 0" quat="0.9999146153 0 -0.01306759638 0"><joint name="belt_C_l015_s" type="slide" axis="0.9996584758 0 -0.02613296121" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l015_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_C_l016" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l016_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l016_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_C_l017" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l017_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l017_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_C_l018" pos="0.06188642521 -0.1 0.06852536374" quat="0.6484246661 0 -0.7612788269 0">
<freejoint name="belt_C_root3"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l018_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_C_l019" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l019_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l020" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l020_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l021" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l021_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l021_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_C_l022" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l022_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l022_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_C_l023" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l023_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l023_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_C_l024" pos="0.0462157031 -0.1 0.1657725248" quat="0.6484246661 0 -0.7612788269 0">
<freejoint name="belt_C_root4"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l024_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_C_l025" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l025_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l026" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l026_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l026_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_C_l027" pos="0.01641694743 0 0" quat="0.9999558967 0 -0.009391731814 0"><joint name="belt_C_l027_s" type="slide" axis="0.9998235907 0 -0.01878263522" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008203284008 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.430326714e-7 5.702857289e-7"/><geom name="belt_C_l027_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_C_l028" pos="0.01640656802 0 0" quat="0.9862358546 0 -0.1653446069 0"><joint name="belt_C_l028_s" type="slide" axis="0.9453223219 0 -0.3261375595" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008141302833 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395792766e-7 5.668323341e-7"/><geom name="belt_C_l028_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_C_l029" pos="0.01628260567 0 0" quat="0.9754918229 0 -0.2200356866 0"><joint name="belt_C_l029_s" type="slide" axis="0.9031685932 0 -0.4292860261" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l029_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00814130087 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395791676e-7 5.668322251e-7"/><geom name="belt_C_l029_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>
<body name="belt_C_l030" pos="0.01421998995 -0.1 0.2541582896" quat="-0.08620655366 0 0.9962772858 0">
<freejoint name="belt_C_root5"/><inertial pos="0.008141303162 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395792948e-7 5.668323523e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l031" pos="0.01628260632 0 0" quat="0.9754914594 0 -0.2200372984 0"><joint name="belt_C_l031_s" type="slide" axis="0.9031671747 0 -0.4292890106" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l031_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.0081413036 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395793191e-7 5.668323766e-7"/><geom name="belt_C_l031_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_C_l032" pos="0.0162826072 0 0" quat="0.9754921155 0 -0.2200343897 0"><joint name="belt_C_l032_s" type="slide" axis="0.9031697347 0 -0.4292836245" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008141300428 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395791431e-7 5.668322006e-7"/><geom name="belt_C_l032_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_C_l033" pos="0.01628260086 0 0" quat="0.9754920296 0 -0.2200347706 0"><joint name="belt_C_l033_s" type="slide" axis="0.9031693994 0 -0.4292843299" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008141303247 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.395792995e-7 5.66832357e-7"/><geom name="belt_C_l033_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_C_l034" pos="0.01628260649 0 0" quat="0.9921047392 0 -0.1254120665 0"><joint name="belt_C_l034_s" type="slide" axis="0.9685436272 0 -0.248843811" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l034_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208389184 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433182831e-7 5.705713406e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l035" pos="0.01641677837 0 0" quat="0.9999998589 0 -0.0005312596005 0"><joint name="belt_C_l035_s" type="slide" axis="0.9999994355 0 -0.001062519051" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l035_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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></body></body></body></body></body>
<body name="belt_C_l036" pos="-0.04157164659 -0.1 0.1945919569" quat="0.6484246661 0 0.7612788269 0">
<freejoint name="belt_C_root6"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l037" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l037_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l038" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l038_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l039" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l039_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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 name="belt_C_l040" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l040_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l040_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l040_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_C_l041" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l041_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l041_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>
<body name="belt_C_l042" pos="-0.0572423687 -0.1 0.09734479581" quat="0.6484246661 0 0.7612788269 0">
<freejoint name="belt_C_root7"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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"/>
<body name="belt_C_l043" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l043_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_l043_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_C_l044" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l044_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l045" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l045_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l046" pos="0.01641694743 0 0" quat="1 0 0 0"><joint name="belt_C_l046_s" type="slide" axis="1 0 0" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008208473716 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.433230138e-7 5.705760713e-7"/><geom name="belt_C_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_C_l047" pos="0.01641694743 0 0" quat="0.9996085174 0 -0.02797877497 0"><joint name="belt_C_l047_s" type="slide" axis="0.9984343763 0 -0.05593564355" stiffness="24000" springref="-0.003333333333" damping="6"/><joint name="belt_C_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.008196870337 0 0" mass="0.01022665805" diaginertia="3.545241456e-7 2.426741071e-7 5.699271646e-7"/><geom name="belt_C_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_l006" body2="belt_l007" anchor="0.01648946838 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l013" body2="belt_l014" anchor="0.01650289702 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l019" body2="belt_l020" anchor="0.01652572527 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l026" body2="belt_l027" anchor="0.01652572527 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l033" body2="belt_l034" anchor="0.01648946838 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l040" body2="belt_l041" anchor="0.01650289702 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l046" body2="belt_l047" anchor="0.01652572527 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l053" body2="belt_l000" anchor="0.01652572527 0 0" solref="-240000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin0" body1="belt_C_l005" body2="belt_C_l006" anchor="0.01638140182 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin1" body1="belt_C_l011" body2="belt_C_l012" anchor="0.0163813992 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin2" body1="belt_C_l017" body2="belt_C_l018" anchor="0.01641694743 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin3" body1="belt_C_l023" body2="belt_C_l024" anchor="0.01641694743 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin4" body1="belt_C_l029" body2="belt_C_l030" anchor="0.01628260174 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin5" body1="belt_C_l035" body2="belt_C_l036" anchor="0.01641694743 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin6" body1="belt_C_l041" body2="belt_C_l042" anchor="0.01641694743 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/><connect name="belt_C_pin7" body1="belt_C_l047" body2="belt_C_l000" anchor="0.01639374067 0 0" solref="-240000 -24" solimp="0.95 0.99 0.001"/></equality>

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