<mujoco model="2-pulleys-and-crossed-belt">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<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 -0.0055 0 0 0.0055 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 -0.0055 0 0 -0.0115 0" size="0.097" 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 0.0055 0 0 0.0115 0" size="0.097" 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 0.12"><joint name="j_bot" 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_bot_rim" condim="3" type="capsule" fromto="0 -0.0055 0 0 0.0055 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 -0.0055 0 0 -0.0115 0" size="0.097" 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 0.0055 0 0 0.0115 0" size="0.097" 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="-0.08710224833 0 0.584656" quat="0.5887403885 0 -0.8083221851 0">
<freejoint name="belt_root0"/><inertial pos="0.006919477002 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987974e-8 1.319987974e-8"/><geom name="belt_l000_c" type="capsule" fromto="0 0 0 0.013838954 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.013838954 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l001_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l001_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00691947661 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987855e-8 1.319987855e-8"/><geom name="belt_l001_c" type="capsule" fromto="0 0 0 0.01383895322 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895322 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l002_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l002_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476663 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987871e-8 1.319987871e-8"/><geom name="belt_l002_c" type="capsule" fromto="0 0 0 0.01383895333 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895333 0 0" quat="0.9972869981 0 0.07361143579 0"><joint name="belt_l003_s" type="slide" axis="0.989162713 0 0.1468234556" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l003_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476962 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987962e-8 1.319987962e-8"/><geom name="belt_l003_c" type="capsule" fromto="0 0 0 0.01383895392 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895392 0 0" quat="0.9972869661 0 0.07361186945 0"><joint name="belt_l004_s" type="slide" axis="0.9891625854 0 0.1468243159" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l004_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00691947687 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987934e-8 1.319987934e-8"/><geom name="belt_l004_c" type="capsule" fromto="0 0 0 0.01383895374 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895374 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l005_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l005_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476583 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987846e-8 1.319987846e-8"/><geom name="belt_l005_c" type="capsule" fromto="0 0 0 0.01383895317 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895317 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l006_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l006_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476739 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987894e-8 1.319987894e-8"/><geom name="belt_l006_c" type="capsule" fromto="0 0 0 0.01383895348 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895348 0 0" quat="0.9972869839 0 0.07361162826 0"><joint name="belt_l007_s" type="slide" axis="0.9891626564 0 0.1468238375" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l007_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476946 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987957e-8 1.319987957e-8"/><geom name="belt_l007_c" type="capsule" fromto="0 0 0 0.01383895389 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895389 0 0" quat="0.9972869803 0 0.07361167698 0"><joint name="belt_l008_s" type="slide" axis="0.989162642 0 0.1468239341" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l008_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476763 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987901e-8 1.319987901e-8"/><geom name="belt_l008_c" type="capsule" fromto="0 0 0 0.01383895353 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895353 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l009_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l009_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00691947658 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987845e-8 1.319987845e-8"/><geom name="belt_l009_c" type="capsule" fromto="0 0 0 0.01383895316 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895316 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l010_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l010_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476841 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987925e-8 1.319987925e-8"/><geom name="belt_l010_c" type="capsule" fromto="0 0 0 0.01383895368 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895368 0 0" quat="0.9972869697 0 0.07361182073 0"><joint name="belt_l011_s" type="slide" axis="0.9891625997 0 0.1468242193" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l011_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476955 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.31998796e-8 1.31998796e-8"/><geom name="belt_l011_c" type="capsule" fromto="0 0 0 0.01383895391 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895391 0 0" quat="0.9972869945 0 0.07361148451 0"><joint name="belt_l012_s" type="slide" axis="0.9891626987 0 0.1468235523" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l012_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00691947668 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987876e-8 1.319987876e-8"/><geom name="belt_l012_c" type="capsule" fromto="0 0 0 0.01383895336 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895336 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l013_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l013_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476601 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987852e-8 1.319987852e-8"/><geom name="belt_l013_c" type="capsule" fromto="0 0 0 0.0138389532 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.0138389532 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l014_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l014_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476966 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987963e-8 1.319987963e-8"/><geom name="belt_l014_c" type="capsule" fromto="0 0 0 0.01383895393 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.02362655743 0 0.7109823371" quat="0.9866025434 0 0.1631423344 0">
<freejoint name="belt_root1"/><inertial pos="0.006919476989 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.31998797e-8 1.31998797e-8"/><geom name="belt_l015_c" type="capsule" fromto="0 0 0 0.01383895398 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895398 0 0" quat="0.9972870087 0 0.07361129203 0"><joint name="belt_l016_s" type="slide" axis="0.9891627554 0 0.1468231705" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l016_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476621 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987858e-8 1.319987858e-8"/><geom name="belt_l016_c" type="capsule" fromto="0 0 0 0.01383895324 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895324 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l017_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l017_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476647 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987866e-8 1.319987866e-8"/><geom name="belt_l017_c" type="capsule" fromto="0 0 0 0.01383895329 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895329 0 0" quat="0.9972870017 0 0.07361138707 0"><joint name="belt_l018_s" type="slide" axis="0.9891627274 0 0.146823359" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l018_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.00691947697 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987964e-8 1.319987964e-8"/><geom name="belt_l018_c" type="capsule" fromto="0 0 0 0.01383895394 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895394 0 0" quat="0.9972869625 0 0.07361191817 0"><joint name="belt_l019_s" type="slide" axis="0.989162571 0 0.1468244126" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l019_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476901 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987943e-8 1.319987943e-8"/><geom name="belt_l019_c" type="capsule" fromto="0 0 0 0.0138389538 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.0138389538 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l020_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l020_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476587 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987848e-8 1.319987848e-8"/><geom name="belt_l020_c" type="capsule" fromto="0 0 0 0.01383895317 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895317 0 0" quat="0.9972870123 0 0.07361124332 0"><joint name="belt_l021_s" type="slide" axis="0.9891627697 0 0.1468230738" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l021_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476718 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987887e-8 1.319987887e-8"/><geom name="belt_l021_c" type="capsule" fromto="0 0 0 0.01383895344 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01383895344 0 0" quat="0.9972869875 0 0.07361157954 0"><joint name="belt_l022_s" type="slide" axis="0.9891626707 0 0.1468237408" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l022_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476948 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987958e-8 1.319987958e-8"/><geom name="belt_l022_c" type="capsule" fromto="0 0 0 0.0138389539 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.0138389539 0 0" quat="0.9972869767 0 0.0736117257 0"><joint name="belt_l023_s" type="slide" axis="0.9891626277 0 0.1468240307" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l023_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006919476787 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.319987909e-8 1.319987909e-8"/><geom name="belt_l023_c" type="capsule" fromto="0 0 0 0.01383895357 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="-0.08710224833 0 0.155344" quat="0.5887403885 0 0.8083221851 0">
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<body name="belt_l075" pos="0.02362655743 0 0.02901766293" quat="0.9866025434 0 -0.1631423344 0">
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<body name="belt_l086" pos="0.01383895363 0 0" quat="0.9977632628 0.0006040139192 -0.06622147265 -0.009100717256"><joint name="belt_l086_s" type="slide" axis="0.991063787 0.0180807253 -0.1321576992" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l086_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006924427405 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.321498727e-8 1.321498727e-8"/><geom name="belt_l086_c" type="capsule" fromto="0 0 0 0.01384885481 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.01384885481 0 0" quat="0.999875344 0.0003290555148 -0.01120287281 -0.01112132047"><joint name="belt_l087_s" type="slide" axis="0.9995016237 0.02223249552 -0.02241027168" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l087_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006931421359 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.323634968e-8 1.323634968e-8"/><geom name="belt_l087_c" type="capsule" fromto="0 0 0 0.01386284272 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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_l089" pos="0.01386255424 0 0" quat="0.9999999056 0 0 0.000434507287"><joint name="belt_l089_s" type="slide" axis="0.9999996224 -0.0008690144921 0" stiffness="30000" springref="-0.001" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><joint name="belt_l089_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0"/><inertial pos="0.006931038868 0 0" mass="0.0006613258756" diaginertia="5.290607005e-9 1.323518084e-8 1.323518084e-8"/><geom name="belt_l089_c" type="capsule" fromto="0 0 0 0.01386207774 0 0" size="0.004" contype="2" conaffinity="2" condim="1" 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="0.06914247694 -0.001909513781 0.199604312" quat="0.5584693829 0.01571179806 -0.8293088323 -0.01058056761">
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</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l014" body2="belt_l015" anchor="0.01383895393 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.01386207774 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.01385163352 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.01386290807 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.01383895393 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.01386207774 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.01385163352 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.01386290807 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="belt_l014" body2="belt_l015"/><exclude body1="belt_l029" body2="belt_l030"/><exclude body1="belt_l044" body2="belt_l045"/><exclude body1="belt_l059" body2="belt_l060"/><exclude body1="belt_l074" body2="belt_l075"/><exclude body1="belt_l089" body2="belt_l090"/><exclude body1="belt_l104" body2="belt_l105"/><exclude body1="belt_l119" body2="belt_l000"/></contact>
<actuator><velocity name="drive" joint="j_top" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
