<mujoco model="255-flanged-pulley-flat-belt">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="p_a" pos="0 0 0"><joint name="j_a" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00124 0.001728 0.00124"/><geom name="p_a_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.06" 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_a_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.07" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_a_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.07" 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_b" pos="0.32 0 0"><joint name="j_b" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.004316666667 0.00648 0.004316666667"/><geom name="p_b_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_b_flangeL" type="cylinder" fromto="0 -0.02 0 0 -0.026 0" size="0.1" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_b_flangeR" type="cylinder" fromto="0 0.02 0 0 0.026 0" size="0.1" contype="1" conaffinity="2" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="belt_l000" pos="-0.062 0 0" quat="0.7333650193 0 0.6798350892 0">
<freejoint name="belt_root0"/><inertial pos="0.004689764073 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728629e-8 1.257103949e-7"/><geom name="belt_l000_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379528146 0 0" quat="0.9971353858 0 -0.07563744031 0"><joint name="belt_l001_s" type="slide" axis="0.9885579552 0 -0.1508415365" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689761858 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.05072779e-8 1.257103865e-7"/><geom name="belt_l001_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379523716 0 0" quat="0.9971352145 0 -0.07563969833 0"><joint name="belt_l002_s" type="slide" axis="0.9885572721 0 -0.1508460136" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763602 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728451e-8 1.257103931e-7"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379527205 0 0" quat="0.9971347179 0 -0.07564624486 0"><joint name="belt_l003_s" type="slide" axis="0.9885552913 0 -0.1508589941" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763169 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728287e-8 1.257103915e-7"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379526338 0 0" quat="0.9971353858 0 -0.07563744039 0"><joint name="belt_l004_s" type="slide" axis="0.9885579552 0 -0.1508415366" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00468976209 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050727878e-8 1.257103874e-7"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.00937952418 0 0" quat="0.9971350432 0 -0.07564195637 0"><joint name="belt_l005_s" type="slide" axis="0.9885565889 0 -0.1508504909" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763373 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728364e-8 1.257103922e-7"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379526746 0 0" quat="0.9971348892 0 -0.07564398678 0"><joint name="belt_l006_s" type="slide" axis="0.9885559745 0 -0.1508545168" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689762497 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728032e-8 1.257103889e-7"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379524993 0 0" quat="0.9971353858 0 -0.07563744041 0"><joint name="belt_l007_s" type="slide" axis="0.9885579552 0 -0.1508415367" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689762554 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728053e-8 1.257103891e-7"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009379525108 0 0" quat="0.9971348719 0 -0.07564421442 0"><joint name="belt_l008_s" type="slide" axis="0.9885559056 0 -0.1508549681" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763385 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728369e-8 1.257103923e-7"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.00937952677 0 0" quat="0.9973067645 0 -0.07334314849 0"><joint name="belt_l009_s" type="slide" axis="0.9892415651 0 -0.1462912362" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00469091212 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051163954e-8 1.257147481e-7"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l010" pos="0.00938182424 0 0" quat="0.9997693606 0 -0.0214761658 0"><joint name="belt_l010_s" type="slide" axis="0.9990775486 0 -0.04294242511" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l011_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l012_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l013_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l014_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.015 0 0 0.015 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></body></body></body></body>
<body name="belt_l015" pos="0.0432297231 0 -0.06634493538" quat="0.9988983373 0 0.04692666252 0">
<freejoint name="belt_root1"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l016_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l017_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l018_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l019_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l020" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l020_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l021_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l026" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l026_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l027" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.1834369428 0 -0.0795474995" quat="0.9988983373 0 0.04692666252 0">
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<body name="belt_l036" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l037" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l037_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l037_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l039" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l039_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l039_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l040" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l040_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l040_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l040_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l041" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l041_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l042" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l043" pos="0.009388497017 0 0" quat="0.999996892 0 -0.002493172318 0"><joint name="belt_l043_s" type="slide" axis="0.9999875682 0 -0.004986329139" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694057453 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052357169e-8 1.257266803e-7"/><geom name="belt_l043_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l044" pos="0.009388114905 0 0" quat="0.9992408718 0 -0.03895741421 0"><joint name="belt_l044_s" type="slide" axis="0.9969646398 0 -0.07785568108" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692211271 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656703e-8 1.257196756e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l045" pos="0.3236847647 0 -0.09192615586" quat="0.9989629035 0 -0.04553149848 0">
<freejoint name="belt_root3"/><inertial pos="0.004692210685 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656481e-8 1.257196734e-7"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009384421369 0 0" quat="0.9986986969 0 -0.05099914544 0"><joint name="belt_l046_s" type="slide" axis="0.9947981743 0 -0.1018655602" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692208641 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051655706e-8 1.257196656e-7"/><geom name="belt_l046_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l051" pos="0.009384417186 0 0" quat="0.9986986969 0 -0.05099914549 0"><joint name="belt_l051_s" type="slide" axis="0.9947981743 0 -0.1018655603" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692210135 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656273e-8 1.257196713e-7"/><geom name="belt_l051_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l053" pos="0.009384422334 0 0" quat="0.9986984567 0 -0.05100384875 0"><joint name="belt_l053_s" type="slide" axis="0.9947972148 0 -0.1018749301" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692209533 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656044e-8 1.25719669e-7"/><geom name="belt_l053_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.412 0 0" quat="0.6888355256 0 -0.7249176634 0">
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<body name="belt_l063" pos="0.009384418256 0 0" quat="0.9986985768 0 -0.05100149704 0"><joint name="belt_l063_s" type="slide" axis="0.9947976946 0 -0.101870245" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692211296 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656713e-8 1.257196757e-7"/><geom name="belt_l063_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l069" pos="0.00938442027 0 0" quat="0.9986986969 0 -0.05099914549 0"><joint name="belt_l069_s" type="slide" axis="0.9947981743 0 -0.1018655603" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692208593 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051655688e-8 1.257196655e-7"/><geom name="belt_l069_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l070" pos="0.009384417186 0 0" quat="0.9986986969 0 -0.05099914549 0"><joint name="belt_l070_s" type="slide" axis="0.9947981743 0 -0.1018655603" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l070_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692210052 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656241e-8 1.25719671e-7"/><geom name="belt_l070_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l071" pos="0.009384420104 0 0" quat="0.9986983366 0 -0.05100620047 0"><joint name="belt_l071_s" type="slide" axis="0.994796735 0 -0.1018796151" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692211159 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656661e-8 1.257196752e-7"/><geom name="belt_l071_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l073" pos="0.0093844192 0 0" quat="0.9986986969 0 -0.05099914553 0"><joint name="belt_l073_s" type="slide" axis="0.9947981743 0 -0.1018655604" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l073_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692208641 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051655706e-8 1.257196656e-7"/><geom name="belt_l073_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l074" pos="0.009384417283 0 0" quat="0.9986986969 0 -0.05099914544 0"><joint name="belt_l074_s" type="slide" axis="0.9947981743 0 -0.1018655602" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004692210685 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656481e-8 1.257196734e-7"/><geom name="belt_l074_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l075" pos="0.3236847647 0 0.09192615586" quat="0.005483425097 0 0.9999849659 0">
<freejoint name="belt_root5"/><inertial pos="0.004692211271 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.051656703e-8 1.257196756e-7"/><geom name="belt_l075_c" type="capsule" fromto="0 -0.015 0 0 0.015 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="0.009384422541 0 0" quat="0.9992408718 0 -0.03895741421 0"><joint name="belt_l076_s" type="slide" axis="0.9969646398 0 -0.07785568108" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694057453 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052357169e-8 1.257266803e-7"/><geom name="belt_l076_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l082" pos="0.009388497017 0 0" quat="1 0 0 0"><joint name="belt_l082_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l082_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l082_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l090" pos="0.1834369428 0 0.0795474995" quat="0.04692666252 0 0.9988983373 0">
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<body name="belt_l105" pos="0.0432297231 0 0.06634493538" quat="0.04692666252 0 0.9988983373 0">
<freejoint name="belt_root7"/><inertial pos="0.004694248509 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.052429674e-8 1.257274053e-7"/><geom name="belt_l105_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l113" pos="0.009379525108 0 0" quat="0.9971353858 0 -0.07563744041 0"><joint name="belt_l113_s" type="slide" axis="0.9885579552 0 -0.1508415367" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689762497 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728032e-8 1.257103889e-7"/><geom name="belt_l113_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l114" pos="0.009379524993 0 0" quat="0.9971348892 0 -0.07564398678 0"><joint name="belt_l114_s" type="slide" axis="0.9885559745 0 -0.1508545168" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l114_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763373 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728364e-8 1.257103922e-7"/><geom name="belt_l114_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l115" pos="0.009379526746 0 0" quat="0.9971350432 0 -0.07564195637 0"><joint name="belt_l115_s" type="slide" axis="0.9885565889 0 -0.1508504909" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00468976209 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050727878e-8 1.257103874e-7"/><geom name="belt_l115_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l116" pos="0.00937952418 0 0" quat="0.9971353858 0 -0.07563744039 0"><joint name="belt_l116_s" type="slide" axis="0.9885579552 0 -0.1508415366" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763169 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728287e-8 1.257103915e-7"/><geom name="belt_l116_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l117" pos="0.009379526338 0 0" quat="0.9971347179 0 -0.07564624486 0"><joint name="belt_l117_s" type="slide" axis="0.9885552913 0 -0.1508589941" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689763602 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728451e-8 1.257103931e-7"/><geom name="belt_l117_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l118" pos="0.009379527205 0 0" quat="0.9971352145 0 -0.07563969833 0"><joint name="belt_l118_s" type="slide" axis="0.9885572721 0 -0.1508460136" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689761858 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.05072779e-8 1.257103865e-7"/><geom name="belt_l118_c" type="capsule" fromto="0 -0.015 0 0 0.015 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_l119" pos="0.009379523716 0 0" quat="0.9971353858 0 -0.07563744031 0"><joint name="belt_l119_s" type="slide" axis="0.9885579552 0 -0.1508415365" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.004689764073 0 0" mass="0.001212664301" diaginertia="1.184368801e-7 1.050728629e-8 1.257103949e-7"/><geom name="belt_l119_c" type="capsule" fromto="0 -0.015 0 0 0.015 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></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_l014" body2="belt_l015" anchor="0.009388497017 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.009388497017 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.009384422541 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.009384423091 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.00938442137 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.009388497017 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.009388497017 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.009379528146 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>

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