<mujoco model="163-another-water-wheel-governor">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<body name="belt_l002" pos="0.01520784035 0 0" quat="0.9842404558 0 -0.1768353053 0"><joint name="belt_l002_s" type="slide" axis="0.9374585496 0 -0.348096923" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l002_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603917957 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264703575e-8 1.141301076e-7"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.01520783591 0 0" quat="0.9842404558 0 -0.1768353052 0"><joint name="belt_l003_s" type="slide" axis="0.9374585497 0 -0.3480969228" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l003_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603916637 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264702294e-8 1.141300948e-7"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.01520783327 0 0" quat="0.9891157207 0 -0.1471396989 0"><joint name="belt_l004_s" type="slide" axis="0.956699818 0 -0.2910763786" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l004_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007636045837 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.295953659e-8 1.144426085e-7"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.01527209167 0 0" quat="0.9998794735 0 -0.01552541561 0"><joint name="belt_l005_s" type="slide" axis="0.9995179229 0 -0.03104708877" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l005_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l006_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l006_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l007_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l007_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l008_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l008_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="belt_l009" pos="0.07004995244 0.043 0.16" quat="0.7071067812 0.7071067812 0 0">
<freejoint name="belt_root1"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l010_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l010_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l011_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l011_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l012_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l012_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l013_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l013_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l014_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l014_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l015" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l015_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l015_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l016_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l016_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l017_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l017_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<body name="belt_l018" pos="0.2076441204 0.043 0.16" quat="0.7071067812 0.7071067812 0 0">
<freejoint name="belt_root2"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l019_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l020_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l020_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l021_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l022_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l023_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l024" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l024_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l025_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l026" pos="0.3299500476 0.043 0.16" quat="0.7071067812 0.7071067812 0 0">
<freejoint name="belt_root3"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l026_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l027" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l027_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l028" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l028_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l028_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l028_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l032" pos="0.01520783327 0 0" quat="0.9842404558 0 -0.1768353052 0"><joint name="belt_l032_s" type="slide" axis="0.9374585497 0 -0.3480969228" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l032_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603917957 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264703575e-8 1.141301076e-7"/><geom name="belt_l032_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l033" pos="0.01520783591 0 0" quat="0.9842404558 0 -0.1768353053 0"><joint name="belt_l033_s" type="slide" axis="0.9374585496 0 -0.348096923" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l033_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603920173 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264705726e-8 1.141301291e-7"/><geom name="belt_l033_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l034" pos="0.01520784035 0 0" quat="0.9842404558 0 -0.1768353054 0"><joint name="belt_l034_s" type="slide" axis="0.9374585495 0 -0.3480969232" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l034_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l034_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603923285 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264708746e-8 1.141301593e-7"/><geom name="belt_l034_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l035" pos="0.443 0 0.16" quat="-0.4536417236 -0.4536417236 0.5424105332 0.5424105332">
<freejoint name="belt_root4"/><inertial pos="0.007603923285 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264708746e-8 1.141301593e-7"/><geom name="belt_l035_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l036" pos="0.01520784657 0 0" quat="0.9842404558 0 -0.1768353054 0"><joint name="belt_l036_s" type="slide" axis="0.9374585495 0 -0.3480969232" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l036_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603920173 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264705726e-8 1.141301291e-7"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l041" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l041_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l041_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l042" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l042_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l043" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l043_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l043_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l044" pos="0.3299500476 -0.043 0.16" quat="0 0 0.7071067812 0.7071067812">
<freejoint name="belt_root5"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l045" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l045_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l045_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l047" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l047_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l047_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l047_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l048" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l048_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l048_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l049" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l049_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l049_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l050" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l050_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l050_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l050_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l050_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l051" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l051_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l051_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l052" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l052_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l052_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l052_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l052_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l053" pos="0.1923558796 -0.043 0.16" quat="0 0 0.7071067812 0.7071067812">
<freejoint name="belt_root6"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l053_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l054" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l054_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l054_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l054_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l054_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l055" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l055_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l055_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l055_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l055_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l056" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l056_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l056_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l056_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l056_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l057" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l057_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l057_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l057_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l058" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l058_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l058_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l058_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l059" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l059_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l059_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l059_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l060" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l060_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l060_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l060_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l060_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l061" pos="0.07004995244 -0.043 0.16" quat="0 0 0.7071067812 0.7071067812">
<freejoint name="belt_root7"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l061_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l062" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l062_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l062_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l062_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l062_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l063" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l063_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l063_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l063_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l064" pos="0.01528824089 0 0" quat="1 0 0 0"><joint name="belt_l064_s" type="slide" axis="1 0 0" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l064_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l064_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007644120445 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.303828371e-8 1.145213556e-7"/><geom name="belt_l064_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l065" pos="0.01528824089 0 0" quat="0.9998794735 0 -0.01552541561 0"><joint name="belt_l065_s" type="slide" axis="0.9995179229 0 -0.03104708877" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l065_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l065_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007636045837 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.295953659e-8 1.144426085e-7"/><geom name="belt_l065_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l066" pos="0.01527209167 0 0" quat="0.9891157207 0 -0.1471396989 0"><joint name="belt_l066_s" type="slide" axis="0.956699818 0 -0.2910763786" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l066_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l066_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603916637 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264702294e-8 1.141300948e-7"/><geom name="belt_l066_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l067" pos="0.01520783327 0 0" quat="0.9842404558 0 -0.1768353052 0"><joint name="belt_l067_s" type="slide" axis="0.9374585497 0 -0.3480969228" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l067_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603917957 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264703575e-8 1.141301076e-7"/><geom name="belt_l067_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l068" pos="0.01520783591 0 0" quat="0.9842404558 0 -0.1768353053 0"><joint name="belt_l068_s" type="slide" axis="0.9374585496 0 -0.348096923" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l068_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603920173 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264705726e-8 1.141301291e-7"/><geom name="belt_l068_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l069" pos="0.01520784035 0 0" quat="0.9842404558 0 -0.1768353054 0"><joint name="belt_l069_s" type="slide" axis="0.9374585495 0 -0.3480969232" stiffness="40000" springref="-0.0001" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l069_e" type="hinge" axis="0 0 1" stiffness="5" damping="0.001" armature="0.000001"/><inertial pos="0.007603923285 0 0" mass="0.00191472514" diaginertia="8.297142272e-8 4.264708746e-8 1.141301593e-7"/><geom name="belt_l069_c" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.003" contype="2" conaffinity="0" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="pin_r" body1="link_r" body2="arm_r" anchor="0.017838 0 0.118667" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_l" body1="link_l" body2="arm_l" anchor="-0.017838 0 0.118667" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="pin_f" body1="hanger" body2="fork" anchor="0 0 -0.188156" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="belt_pin0" body1="belt_l008" body2="belt_l009" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l017" body2="belt_l018" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l025" body2="belt_l026" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l034" body2="belt_l035" anchor="0.01520784657 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l043" body2="belt_l044" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l052" body2="belt_l053" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l060" body2="belt_l061" anchor="0.01528824089 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l069" body2="belt_l000" anchor="0.01520784657 0 0" solref="-400000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="link_r" body2="arm_r"/><exclude body1="link_l" body2="arm_l"/><exclude body1="hanger" body2="fork"/></contact>
<actuator><velocity name="drive" joint="j_s" kv="1" forcerange="-2 2"/></actuator>
</mujoco>
