<mujoco model="141-endless-band-saw">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 0"/>
<size memory="64M"/>
<worldbody>
<body name="p_top" pos="0 0 0.62"><joint name="j_top" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_top_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_bot" pos="0 0 0.08"><joint name="j_bot" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0.05"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_bot_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.096" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_T" pos="0.104 0 0.5"><joint name="j_T" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.0001075 0.000108 0.0001075"/><geom name="p_T_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.03" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_T_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.036" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_T_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.036" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="table" pos="0 0 0"></body>
<body name="belt_l000" pos="0.09048082117 0 0.603350045" quat="0.7415445942 0 -0.6709035809 0">
<freejoint name="belt_root0"/><inertial pos="0.007538325607 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719754402e-8 1.913047794e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.01507665121 0 0" quat="0.9966379624 0 -0.08193150752 0"><joint name="belt_l001_s" type="slide" axis="0.9865744562 0 -0.1633121014" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538325281 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719754101e-8 1.913047764e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.01507665056 0 0" quat="0.996636856 0 -0.08194496518 0"><joint name="belt_l002_s" type="slide" axis="0.9865700454 0 -0.1633387449" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538325305 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719754123e-8 1.913047766e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.01507665061 0 0" quat="0.9966379193 0 -0.08193203214 0"><joint name="belt_l003_s" type="slide" axis="0.9865742842 0 -0.1633131401" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324979 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753823e-8 1.913047736e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.01507664996 0 0" quat="0.9966368991 0 -0.08194444056 0"><joint name="belt_l004_s" type="slide" axis="0.9865702173 0 -0.1633377063" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538325026 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753866e-8 1.91304774e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.01507665005 0 0" quat="0.9966378761 0 -0.08193255676 0"><joint name="belt_l005_s" type="slide" axis="0.9865741123 0 -0.1633141787" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324702 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753567e-8 1.91304771e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.0150766494 0 0" quat="0.9966369422 0 -0.08194391594 0"><joint name="belt_l006_s" type="slide" axis="0.9865703893 0 -0.1633366676" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324771 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.71975363e-8 1.913047717e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.01507664954 0 0" quat="0.996637833 0 -0.08193308138 0"><joint name="belt_l007_s" type="slide" axis="0.9865739403 0 -0.1633152174" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324449 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753334e-8 1.913047687e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.0150766489 0 0" quat="0.9966369854 0 -0.08194339132 0"><joint name="belt_l008_s" type="slide" axis="0.9865705612 0 -0.163335629" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324539 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753417e-8 1.913047695e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.01507664908 0 0" quat="0.9966377899 0 -0.08193360601 0"><joint name="belt_l009_s" type="slide" axis="0.9865737684 0 -0.163316256" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324221 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753124e-8 1.913047666e-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="0.004 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="0.01029802396 0 0.711421792" quat="-0.01506711146 0 0.9998864846 0">
<freejoint name="belt_root1"/><inertial pos="0.007538324331 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753225e-8 1.913047676e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.01507664866 0 0" quat="0.9966377467 0 -0.08193413063 0"><joint name="belt_l011_s" type="slide" axis="0.9865735965 0 -0.1633172947" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324017 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752936e-8 1.913047647e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01507664803 0 0" quat="0.9966370716 0 -0.08194234208 0"><joint name="belt_l012_s" type="slide" axis="0.9865709051 0 -0.1633335517" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324146 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753055e-8 1.913047659e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01507664829 0 0" quat="0.9966377036 0 -0.08193465525 0"><joint name="belt_l013_s" type="slide" axis="0.9865734245 0 -0.1633183333" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323838 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752771e-8 1.913047631e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01507664768 0 0" quat="0.9966371148 0 -0.08194181746 0"><joint name="belt_l014_s" type="slide" axis="0.9865710771 0 -0.1633325131" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323985 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752907e-8 1.913047644e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l015" pos="0.01507664797 0 0" quat="0.9966376605 0 -0.08193517988 0"><joint name="belt_l015_s" type="slide" axis="0.9865732526 0 -0.163319372" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323683 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752628e-8 1.913047617e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.01507664737 0 0" quat="0.9966371579 0 -0.08194129284 0"><joint name="belt_l016_s" type="slide" axis="0.9865712491 0 -0.1633314744" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323848 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.71975278e-8 1.913047632e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.0150766477 0 0" quat="0.9966376174 0 -0.0819357045 0"><joint name="belt_l017_s" type="slide" axis="0.9865730807 0 -0.1633204106" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323553 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752508e-8 1.913047605e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.01507664711 0 0" quat="0.996637201 0 -0.08194076822 0"><joint name="belt_l018_s" type="slide" axis="0.986571421 0 -0.1633304358" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323734 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719752675e-8 1.913047621e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01507664747 0 0" quat="0.9966375742 0 -0.08193622912 0"><joint name="belt_l019_s" type="slide" axis="0.9865729087 0 -0.1633214493" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538323447 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.71975241e-8 1.913047595e-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="0.004 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="-0.0919174073 0 0.6238959313" quat="0.705169347 0 0.7090389213 0">
<freejoint name="belt_root2"/><inertial pos="0.007546317652 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727126913e-8 1.913785045e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.0150926353 0 0" quat="0.9999962566 0 -0.002736202227 0"><joint name="belt_l021_s" type="slide" axis="0.9999850264 0 -0.005472383968" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l023_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l024" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l024_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l025_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l030" pos="-0.092 0 0.4729613393" quat="0.7071067812 0 0.7071067812 0">
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<body name="belt_l040" pos="-0.092 0 0.3220255808" quat="0.7071067812 0 0.7071067812 0">
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<body name="belt_l045" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l048" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l048_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l049" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l050" pos="-0.092 0 0.1710898223" quat="0.7071067812 0 0.7071067812 0">
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<body name="belt_l051" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l051_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l060" pos="-0.07321185316 0 0.02428629499" quat="0.9134428741 0 0.4069669713 0">
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<body name="belt_l067" pos="0.0150766489 0 0" quat="0.9966378143 0 -0.08193330837 0"><joint name="belt_l067_s" type="slide" axis="0.986573866 0 -0.1633156668" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324562 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753438e-8 1.913047698e-7"/><geom name="belt_l067_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l068" pos="0.01507664912 0 0" quat="0.9966369705 0 -0.08194357235 0"><joint name="belt_l068_s" type="slide" axis="0.9865705019 0 -0.1633359874" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324576 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753451e-8 1.913047699e-7"/><geom name="belt_l068_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l069" pos="0.01507664915 0 0" quat="0.9966378377 0 -0.08193302387 0"><joint name="belt_l069_s" type="slide" axis="0.9865739592 0 -0.1633151035" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324695 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753561e-8 1.91304771e-7"/><geom name="belt_l069_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l070" pos="0.06068480939 0 0.01085269639" quat="0.9206036105 0 -0.3904983896 0">
<freejoint name="belt_root7"/><inertial pos="0.007538324708 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753573e-8 1.913047711e-7"/><geom name="belt_l070_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l074" pos="0.01507664997 0 0" quat="0.9966369003 0 -0.08194442587 0"><joint name="belt_l074_s" type="slide" axis="0.9865702221 0 -0.1633376772" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007538324993 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.719753836e-8 1.913047737e-7"/><geom name="belt_l074_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l075" pos="0.01507664999 0 0" quat="0.9974971076 0 -0.07070728592 0"><joint name="belt_l075_s" type="slide" axis="0.9900009594 0 -0.1410606264" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l075_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007544437817 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.725392098e-8 1.913611564e-7"/><geom name="belt_l075_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l076" pos="0.01508887563 0 0" quat="0.9999567727 0 -0.009297994789 0"><joint name="belt_l076_s" type="slide" axis="0.9998270946 0 -0.01859518572" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l076_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l077" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l077_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l077_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l077_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l078" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l078_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l078_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l079" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l079_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l079_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l079_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l080" pos="0.08862343534 0 0.1526109673" quat="0.6899625642 0 -0.7238450525 0">
<freejoint name="belt_root8"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l080_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l081" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l081_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l081_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l081_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l083" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l083_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l083_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l083_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l084" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l084_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l084_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l084_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l085" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l085_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l085_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l085_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l086" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l086_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l086_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l087" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l087_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l087_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l088" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l088_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l088_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l088_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l089" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l089_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l089_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="0.004 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_l090" pos="0.08139311141 0 0.3033734481" quat="0.6899625642 0 -0.7238450525 0">
<freejoint name="belt_root9"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l090_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l091" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l091_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l091_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l091_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l092" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l092_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l092_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l092_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l093" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l093_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l093_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l093_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l094" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l094_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l094_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l094_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l095" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l095_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l095_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l095_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l096" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l096_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l096_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l096_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l097" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l097_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l097_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l097_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l098" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l098_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l098_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l098_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l099" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l099_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l099_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l099_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="0.004 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_l100" pos="0.07416278747 0 0.4541359289" quat="0.6899625642 0 -0.7238450525 0">
<freejoint name="belt_root10"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l100_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l101" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l101_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l101_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l101_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l102" pos="0.01509357585 0 0" quat="0.9999999124 0 0.0004186146542 0"><joint name="belt_l102_s" type="slide" axis="0.9999996495 0 0.000837229235" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546731405 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727508805e-8 1.913823234e-7"/><geom name="belt_l102_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.01509346281 0 0" quat="0.9956816781 0 0.09283316129 0"><joint name="belt_l103_s" type="slide" axis="0.9827640083 0 0.1848645556" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007531915159 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.71384653e-8 1.912457007e-7"/><geom name="belt_l103_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l104" pos="0.01506383032 0 0" quat="0.9997674743 0 0.02156379781 0"><joint name="belt_l104_s" type="slide" axis="0.9990700052 0 0.04311756734" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l104_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l105" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l105_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l105_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l105_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l106" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l106_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l106_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l106_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l107" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l107_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l107_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l107_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l108" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l108_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l108_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l108_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l109" pos="0.01509357585 0 0" quat="1 0 0 0"><joint name="belt_l109_s" type="slide" axis="1 0 0" stiffness="100000" springref="-0.00004" damping="2"/><joint name="belt_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.007546787926 0 0" mass="0.001834609945" diaginertia="1.589995286e-7 3.727560975e-8 1.913828451e-7"/><geom name="belt_l109_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="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l009" body2="belt_l010" anchor="0.01507664844 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l019" body2="belt_l020" anchor="0.01507664689 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l029" body2="belt_l030" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l039" body2="belt_l040" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l049" body2="belt_l050" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l059" body2="belt_l060" anchor="0.0150766482 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l069" body2="belt_l070" anchor="0.01507664939 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l079" body2="belt_l080" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l089" body2="belt_l090" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin9" body1="belt_l099" body2="belt_l100" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin10" body1="belt_l109" body2="belt_l000" anchor="0.01509357585 0 0" solref="-1000000 -8" solimp="0.95 0.99 0.001"/></equality>

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