<mujoco model="3-pulleys-with-right-angle-guides">
<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_drive" pos="0.4 0 0.43"><joint name="j_drive" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="2" diaginertia="0.0042 0.00648 0.0042"/><geom name="p_drive_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.09" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drive_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0105 0" size="0.096" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drive_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0105 0" size="0.096" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="g_front" pos="0 -0.053 0.48"><joint name="j_front" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001873 0.00026896 0.0001873"/><geom name="g_front_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.041" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_front_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0096 0" size="0.046" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_front_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0096 0" size="0.046" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="g_back" pos="0 0.053 0.48"><joint name="j_back" type="hinge" axis="0 1 0" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.4" diaginertia="0.0001873 0.00026896 0.0001873"/><geom name="g_back_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.041" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_back_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0096 0" size="0.046" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="g_back_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0096 0" size="0.046" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="drum" pos="-0.044 0 0.02" quat="1 0 0 0"><joint name="j_drum" type="hinge" axis="1 0 0" damping="0.01" frictionloss="0"/><inertial pos="0 0 0" mass="1.394075028" fullinertia="0.001203493478 0.002983249563 0.00298324933 5.26803582e-11 0 0"/><body name="p_drum_w" pos="0 0 0" quat="0.7071068 0 0 -0.7071068"><geom name="p_drum_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.05" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drum_w_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.024 0" size="0.055" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_drum_w_flangeR" type="cylinder" fromto="0 0.006 0 0 0.024 0" size="0.055" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="drum_shaft" type="capsule" fromto="-0.11 0 0 0.11 0 0" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="belt_l000" pos="0.3577889106 0 0.347131285" quat="0.9816892764 0 0.1904892768 0">
<freejoint name="belt_root0"/><inertial pos="0.008154160744 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879404e-8 1.069879404e-8"/><geom name="belt_l000_c" type="capsule" fromto="0 0 0 0.01630832149 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.01630832149 0 0" quat="0.9961489034 0 -0.08767760386 0"><joint name="belt_l001_s" type="slide" axis="0.9846252756 0 -0.1746798979" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l001_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154155993 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878272e-8 1.069878272e-8"/><geom name="belt_l001_c" type="capsule" fromto="0 0 0 0.01630831199 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.01630831199 0 0" quat="0.9961489034 0 -0.08767760408 0"><joint name="belt_l002_s" type="slide" axis="0.9846252755 0 -0.1746798983" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l002_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154155763 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878217e-8 1.069878217e-8"/><geom name="belt_l002_c" type="capsule" fromto="0 0 0 0.01630831153 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831153 0 0" quat="0.9961489034 0 -0.0876776039 0"><joint name="belt_l003_s" type="slide" axis="0.9846252755 0 -0.174679898" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l003_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154160054 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879239e-8 1.069879239e-8"/><geom name="belt_l003_c" type="capsule" fromto="0 0 0 0.01630832011 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630832011 0 0" quat="0.9961483904 0 -0.08768343266 0"><joint name="belt_l004_s" type="slide" axis="0.9846232313 0 -0.1746914206" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l004_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00815416053 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879353e-8 1.069879353e-8"/><geom name="belt_l004_c" type="capsule" fromto="0 0 0 0.01630832106 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630832106 0 0" quat="0.9961488453 0 -0.08767826455 0"><joint name="belt_l005_s" type="slide" axis="0.9846250439 0 -0.174681204" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l005_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00815415627 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878338e-8 1.069878338e-8"/><geom name="belt_l005_c" type="capsule" fromto="0 0 0 0.01630831254 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831254 0 0" quat="0.9961489034 0 -0.08767760408 0"><joint name="belt_l006_s" type="slide" axis="0.9846252755 0 -0.1746798983" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l006_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154155579 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878173e-8 1.069878173e-8"/><geom name="belt_l006_c" type="capsule" fromto="0 0 0 0.01630831116 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831116 0 0" quat="0.9961489034 0 -0.08767760394 0"><joint name="belt_l007_s" type="slide" axis="0.9846252755 0 -0.174679898" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l007_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00815415941 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879086e-8 1.069879086e-8"/><geom name="belt_l007_c" type="capsule" fromto="0 0 0 0.01630831882 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831882 0 0" quat="0.9961484485 0 -0.08768277194 0"><joint name="belt_l008_s" type="slide" axis="0.984623463 0 -0.1746901145" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l008_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154160365 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879313e-8 1.069879313e-8"/><geom name="belt_l008_c" type="capsule" fromto="0 0 0 0.01630832073 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.01630832073 0 0" quat="0.9961487871 0 -0.08767892524 0"><joint name="belt_l009_s" type="slide" axis="0.9846248121 0 -0.1746825101" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l009_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154156594 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878415e-8 1.069878415e-8"/><geom name="belt_l009_c" type="capsule" fromto="0 0 0 0.01630831319 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l010" pos="0.4892202472 0 0.4037563825" quat="0.7736239283 0 -0.6336450249 0">
<freejoint name="belt_root1"/><inertial pos="0.008154155443 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878141e-8 1.069878141e-8"/><geom name="belt_l010_c" type="capsule" fromto="0 0 0 0.01630831089 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831089 0 0" quat="0.9961489034 0 -0.08767760397 0"><joint name="belt_l011_s" type="slide" axis="0.9846252755 0 -0.1746798981" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l011_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154158813 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878944e-8 1.069878944e-8"/><geom name="belt_l011_c" type="capsule" fromto="0 0 0 0.01630831763 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831763 0 0" quat="0.9961485067 0 -0.08768211122 0"><joint name="belt_l012_s" type="slide" axis="0.9846236947 0 -0.1746888083" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l012_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154160248 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879285e-8 1.069879285e-8"/><geom name="belt_l012_c" type="capsule" fromto="0 0 0 0.0163083205 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.0163083205 0 0" quat="0.996148729 0 -0.08767958594 0"><joint name="belt_l013_s" type="slide" axis="0.9846245804 0 -0.1746838162" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l013_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154156965 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878503e-8 1.069878503e-8"/><geom name="belt_l013_c" type="capsule" fromto="0 0 0 0.01630831393 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831393 0 0" quat="0.9961489034 0 -0.08767760406 0"><joint name="belt_l014_s" type="slide" axis="0.9846252755 0 -0.1746798983" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l014_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154155353 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878119e-8 1.069878119e-8"/><geom name="belt_l014_c" type="capsule" fromto="0 0 0 0.01630831071 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831071 0 0" quat="0.9961489034 0 -0.087677604 0"><joint name="belt_l015_s" type="slide" axis="0.9846252755 0 -0.1746798982" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l015_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154158264 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878813e-8 1.069878813e-8"/><geom name="belt_l015_c" type="capsule" fromto="0 0 0 0.01630831653 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831653 0 0" quat="0.9961485648 0 -0.0876814505 0"><joint name="belt_l016_s" type="slide" axis="0.9846239265 0 -0.1746875022" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l016_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154160179 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069879269e-8 1.069879269e-8"/><geom name="belt_l016_c" type="capsule" fromto="0 0 0 0.01630832036 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630832036 0 0" quat="0.9961486708 0 -0.08768024665 0"><joint name="belt_l017_s" type="slide" axis="0.9846243487 0 -0.1746851223" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l017_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154157382 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878603e-8 1.069878603e-8"/><geom name="belt_l017_c" type="capsule" fromto="0 0 0 0.01630831476 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.01630831476 0 0" quat="0.9961489034 0 -0.08767760404 0"><joint name="belt_l018_s" type="slide" axis="0.9846252755 0 -0.1746798982" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l018_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154155311 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878109e-8 1.069878109e-8"/><geom name="belt_l018_c" type="capsule" fromto="0 0 0 0.01630831062 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831062 0 0" quat="0.9961489034 0 -0.08767760402 0"><joint name="belt_l019_s" type="slide" axis="0.9846252755 0 -0.1746798982" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l019_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008154157761 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.069878693e-8 1.069878693e-8"/><geom name="belt_l019_c" type="capsule" fromto="0 0 0 0.01630831552 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01630831552 0 0" quat="0.9964419087 0.002289046518 -0.0791726754 -0.02880920557"><joint name="belt_l020_s" type="slide" axis="0.9858034343 0.0570509397 -0.1579138348" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l020_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008142943163 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.067208894e-8 1.067208894e-8"/><geom name="belt_l020_c" type="capsule" fromto="0 0 0 0.01628588633 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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></body>
<body name="belt_l021" pos="0.3931289226 -0.0009409310793 0.5230174656" quat="-0.001299984795 -0.06579755313 0.9978317544 0.0008842778428">
<freejoint name="belt_root2"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l021_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l022_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l022_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l022_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l023_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l023_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l023_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l024_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l024_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l025_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l025_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l026" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l026_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l026_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l027_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l027_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l028_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l028_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l028_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l029" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l029_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l029_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l029_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l029_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l030" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l030_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l030_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l030_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l030_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l031" pos="0.2312504659 -0.02238326091 0.5234220998" quat="-0.001299984795 -0.06579755313 0.9978317544 0.0008842778428">
<freejoint name="belt_root3"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l031_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l032" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l032_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l032_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l032_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l033_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l033_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l033_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l034_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l034_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l034_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l034_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l035" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l035_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l035_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l035_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l035_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l036_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l036_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l037" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l037_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l037_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l037_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l038" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l038_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l038_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l038_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l039" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l039_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l039_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l039_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l040" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l040_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l040_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l040_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l040_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l041" pos="0.06937200913 -0.04382559074 0.523826734" quat="-0.001299984795 -0.06579755313 0.9978317544 0.0008842778428">
<freejoint name="belt_root4"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l041_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l042_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l042_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l043_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l043_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l044" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l044_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l044_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="0.9977119757 -0.002286781311 -0.04856041609 0.0469837222"><joint name="belt_l045_s" type="slide" axis="0.9908688317 -0.0935303505 -0.09711350035" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l045_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008118281971 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061350861e-8 1.061350861e-8"/><geom name="belt_l045_c" type="capsule" fromto="0 0 0 0.01623656394 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.01623656394 0 0" quat="0.9839888674 -0.002618060625 -0.1776195286 0.01450371212"><joint name="belt_l046_s" type="slide" axis="0.9364818908 -0.02761294513 -0.3496272208" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l046_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117865972 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061252197e-8 1.061252197e-8"/><geom name="belt_l046_c" type="capsule" fromto="0 0 0 0.01623573194 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l047" pos="0.01623573194 0 0" quat="0.9828326582 0.00087956699 -0.1844375881 -0.00468704439"><joint name="belt_l047_s" type="slide" axis="0.9319216154 0.008888710166 -0.3625508152" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l047_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117865818 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.06125216e-8 1.06125216e-8"/><geom name="belt_l047_c" type="capsule" fromto="0 0 0 0.01623573164 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01623573164 0 0" quat="0.9828327099 0.0008197571162 -0.1844454164 -0.004368143833"><joint name="belt_l048_s" type="slide" axis="0.9319216154 0.008283908395 -0.3625651385" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l048_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117865673 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061252126e-8 1.061252126e-8"/><geom name="belt_l048_c" type="capsule" fromto="0 0 0 0.01623573135 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01623573135 0 0" quat="0.9865790197 0.0006006905048 -0.1632430634 -0.003630345063"><joint name="belt_l049_s" type="slide" axis="0.9466770457 0.00696712743 -0.3221087243" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l049_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00814872896 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.068585829e-8 1.068585829e-8"/><geom name="belt_l049_c" type="capsule" fromto="0 0 0 0.01629745792 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01629745792 0 0" quat="0.9996906417 0.00001337025128 -0.02486627801 -0.0005375197317"><joint name="belt_l050_s" type="slide" axis="0.9987627586 0.001074041954 -0.04971718521" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l050_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l050_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l050_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l051_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l051_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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></body>
<body name="belt_l052" pos="-0.04400000025 -0.05300000025 0.4394700187" quat="0.7070655424 -0.007636468666 0.7070655468 0.007636464378">
<freejoint name="belt_root5"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l052_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l053" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l053_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l053_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l053_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l054_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l054_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l054_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l054_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l055_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l055_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l055_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l055_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l056_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l056_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l056_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l056_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l057_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l057_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l057_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l058_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l058_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l058_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l059_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l059_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l059_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l060_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l060_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l060_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l060_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l061" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l061_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l061_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l061_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l062" pos="-0.04400000125 -0.05300000125 0.2761771163" quat="0.7070655424 -0.007636468666 0.7070655468 0.007636464378">
<freejoint name="belt_root6"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l062_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l063_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l063_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l063_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l064_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l064_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l064_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l064_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l065_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l065_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l065_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l065_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l066_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l066_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l066_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l066_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l067_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l067_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l067_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l068_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l068_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l068_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l069_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l069_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l069_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l070" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l070_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l070_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l070_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l070_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l071" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l071_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l071_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l071_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l072" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l072_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l072_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l072_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l072_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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></body>
<body name="belt_l073" pos="-0.04400000235 -0.05300000235 0.0965549236" quat="0.7070655424 -0.007636468666 0.7070655468 0.007636464378">
<freejoint name="belt_root7"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l073_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l074" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l074_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l074_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l074_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l075" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l075_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l075_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l075_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l075_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l076" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l076_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l076_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l076_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l077" pos="0.01632929025 0 0" quat="0.9999719691 -0.000001210631514 -0.0001617225609 0.007485644382"><joint name="belt_l077_s" type="slide" axis="0.9998878779 -0.01497086871 -0.00032345418" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l077_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l077_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008161644602 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.07166309e-8 1.07166309e-8"/><geom name="belt_l077_c" type="capsule" fromto="0 0 0 0.0163232892 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l078" pos="0.0163232892 0 0" quat="0.9930965586 -0.000303428381 -0.002569545819 0.1172711842"><joint name="belt_l078_s" type="slide" axis="0.9724817336 -0.2329216595 -0.005174781031" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l078_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132387036 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699211e-8 1.064699211e-8"/><geom name="belt_l078_c" type="capsule" fromto="0 0 0 0.01626477407 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l079" pos="0.01626477407 0 0" quat="0.9881573325 -0.0005421576727 -0.003492342165 0.1534033764"><joint name="belt_l079_s" type="slide" axis="0.9529104153 -0.3031695556 -0.00706830467" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l079_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l079_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132386766 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699147e-8 1.064699147e-8"/><geom name="belt_l079_c" type="capsule" fromto="0 0 0 0.01626477353 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l080" pos="0.01626477353 0 0" quat="0.9881579124 -0.0005688899277 -0.003664729423 0.1533955221"><joint name="belt_l080_s" type="slide" axis="0.9529127671 -0.3031538282 -0.007417193088" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l080_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l080_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132387487 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699318e-8 1.064699318e-8"/><geom name="belt_l080_c" type="capsule" fromto="0 0 0 0.01626477497 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l081" pos="0.01626477497 0 0" quat="0.988157196 -0.0005970029372 -0.003845825829 0.1533955969"><joint name="belt_l081_s" type="slide" axis="0.952910001 -0.3031533338 -0.007783716179" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l081_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l081_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132387309 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699276e-8 1.064699276e-8"/><geom name="belt_l081_c" type="capsule" fromto="0 0 0 0.01626477462 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l082" pos="0.01626477462 0 0" quat="0.9881579864 -0.0006264210864 -0.004035602779 0.1533855122"><joint name="belt_l082_s" type="slide" axis="0.9529131971 -0.3031331819 -0.00816779407" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l082_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l082_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132388097 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699463e-8 1.064699463e-8"/><geom name="belt_l082_c" type="capsule" fromto="0 0 0 0.01626477619 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l083" pos="-0.04399999981 0.003483292094 -0.03288540092" quat="0.4498930158 0.5455238769 0.4342941129 0.5580220403">
<freejoint name="belt_root8"/><inertial pos="0.00813238801 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699442e-8 1.064699442e-8"/><geom name="belt_l083_c" type="capsule" fromto="0 0 0 0.01626477602 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l084" pos="0.01626477602 0 0" quat="0.9881580401 -0.0006897532648 -0.004443953866 0.1533736071"><joint name="belt_l084_s" type="slide" axis="0.9529135758 -0.3031085956 -0.008994237377" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l084_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l084_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132388683 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699602e-8 1.064699602e-8"/><geom name="belt_l084_c" type="capsule" fromto="0 0 0 0.01626477737 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l085" pos="0.01626477737 0 0" quat="0.9881569186 -0.0007238437609 -0.004663570739 0.1533741548"><joint name="belt_l085_s" type="slide" axis="0.9529092395 -0.3031087129 -0.009438717233" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l085_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l085_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.00813238869 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699604e-8 1.064699604e-8"/><geom name="belt_l085_c" type="capsule" fromto="0 0 0 0.01626477738 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l086" pos="0.01626477738 0 0" quat="0.9881579761 -0.000759471814 -0.004893571441 0.1533600029"><joint name="belt_l086_s" type="slide" axis="0.9529135249 -0.3030803872 -0.009904188501" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l086_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008132387847 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.064699404e-8 1.064699404e-8"/><geom name="belt_l086_c" type="capsule" fromto="0 0 0 0.01626477569 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l087" pos="0.01626477569 0 0" quat="0.9883126622 -0.0007861865624 -0.005099983902 0.1523530563"><joint name="belt_l087_s" type="slide" axis="0.9535250728 -0.3011368902 -0.01032031319" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l087_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008134577024 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.065219605e-8 1.065219605e-8"/><geom name="belt_l087_c" type="capsule" fromto="0 0 0 0.01626915405 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l088" pos="0.01626915405 0 0" quat="0.9981822063 -0.0001250169629 -0.002071794258 0.06023267386"><joint name="belt_l088_s" type="slide" axis="0.9927354653 -0.1202458486 -0.004151116538" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l088_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l088_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l088_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l089" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l089_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l089_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l089_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l090" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l090_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l090_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l090_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l090_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l091" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l091_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l091_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l091_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l091_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l092" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l092_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l092_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l092_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l092_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l093" pos="-0.04399999769 0.05300000231 0.1035265314" quat="0.01219992075 0.7070015268 -0.01219992516 0.707001531">
<freejoint name="belt_root9"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l093_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l094" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l094_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l094_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l094_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l094_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l095" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l095_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l095_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l095_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l095_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l096" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l096_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l096_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l096_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l096_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l097" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l097_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l097_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l097_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l097_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l098" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l098_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l098_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l098_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l098_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l099" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l099_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l099_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l099_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l099_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l100" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l100_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l100_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l100_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l100_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l101" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l101_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l101_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l101_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l101_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l102" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l102_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l102_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l102_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l103_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l103_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l103_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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></body>
<body name="belt_l104" pos="-0.04399999879 0.05300000121 0.2831487241" quat="0.01219992075 0.7070015268 -0.01219992516 0.707001531">
<freejoint name="belt_root10"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l104_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l105" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l105_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l105_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l105_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l105_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l106" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l106_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l106_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l106_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l106_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l107" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l107_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l107_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l107_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l107_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l108" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l108_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l108_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l108_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l108_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l109" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l109_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l109_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l109_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l109_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l110" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l110_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l110_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l110_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l110_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l111" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l111_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l111_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l111_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l111_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l112" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l112_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l112_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l112_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l112_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l113" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l113_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l113_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l113_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l114" pos="-0.04399999979 0.05300000021 0.4464416266" quat="0.01219992075 0.7070015268 -0.01219992516 0.707001531">
<freejoint name="belt_root11"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l114_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l115" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l115_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l115_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l115_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.01632929025 0 0" quat="0.9965710511 0.0002352538999 -0.08269248257 -0.002835169764"><joint name="belt_l116_s" type="slide" axis="0.9863078303 0.005611988765 -0.1648192025" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l116_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008118657544 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061439942e-8 1.061439942e-8"/><geom name="belt_l116_c" type="capsule" fromto="0 0 0 0.01623731509 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.01623731509 0 0" quat="0.9828841169 0.001134544109 -0.1841218207 -0.006056454255"><joint name="belt_l117_s" type="slide" axis="0.932124949 0.01148779673 -0.361954569" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l117_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117864802 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061251919e-8 1.061251919e-8"/><geom name="belt_l117_c" type="capsule" fromto="0 0 0 0.0162357296 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.0162357296 0 0" quat="0.982832484 0.001060799467 -0.1844104648 -0.005653628044"><joint name="belt_l118_s" type="slide" axis="0.9319216339 0.01072189354 -0.3625011851" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l118_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117864528 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061251854e-8 1.061251854e-8"/><geom name="belt_l118_c" type="capsule" fromto="0 0 0 0.01623572906 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.01623572906 0 0" quat="0.9828325592 0.0009887041554 -0.1844218534 -0.005269064471"><joint name="belt_l119_s" type="slide" axis="0.9319216339 0.009992538932 -0.3625220233" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l119_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117864418 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061251828e-8 1.061251828e-8"/><geom name="belt_l119_c" type="capsule" fromto="0 0 0 0.01623572884 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l120" pos="0.01623572884 0 0" quat="0.9828326245 0.0009214937037 -0.1844317458 -0.004910619218"><joint name="belt_l120_s" type="slide" axis="0.9319216339 0.009312728162 -0.3625401237" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l120_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l120_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008117864472 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.061251841e-8 1.061251841e-8"/><geom name="belt_l120_c" type="capsule" fromto="0 0 0 0.01623572894 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l121" pos="0.01623572894 0 0" quat="0.9855799695 -0.004445625674 -0.1671073998 0.02621978214"><joint name="belt_l121_s" type="slide" axis="0.9427752799 -0.05019759028 -0.3296285386" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l121_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l121_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008126459689 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.063291431e-8 1.063291431e-8"/><geom name="belt_l121_c" type="capsule" fromto="0 0 0 0.01625291938 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l122" pos="0.01625291938 0 0" quat="0.9988402585 -0.001125062418 -0.02961608457 0.03794416624"><joint name="belt_l122_s" type="slide" axis="0.9953662556 -0.07573368174 -0.05924885424" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l122_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l122_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l122_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l123" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l123_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l123_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l123_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l123_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<body name="belt_l124" pos="0.05517325695 0.0474771214 0.5012755407" quat="0.02625975768 0.9698197453 -0.06505725568 -0.233511542">
<freejoint name="belt_root12"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l124_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l125" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l125_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l125_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l125_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l125_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l126" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l126_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l126_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l126_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l126_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l127" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l127_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l127_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l127_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l127_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l128" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l128_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l128_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l128_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l128_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l129" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l129_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l129_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l129_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l129_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l130" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l130_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l130_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l130_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l130_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l131" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l131_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l131_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l131_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l131_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l132" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l132_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l132_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l132_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l132_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l133" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l133_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l133_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l133_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l133_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l134" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l134_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l134_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l134_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l134_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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></body>
<body name="belt_l135" pos="0.2136862184 0.02260815305 0.4205333115" quat="0.02625975768 0.9698197453 -0.06505725568 -0.233511542">
<freejoint name="belt_root13"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l135_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l136" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l136_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l136_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l136_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l136_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l137" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l137_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l137_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l137_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l137_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l138" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l138_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l138_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l138_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l138_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l139" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l139_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l139_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l139_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l139_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l140" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l140_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l140_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l140_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l140_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l141" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l141_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l141_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l141_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l141_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l142" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l142_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l142_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l142_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l142_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l143" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l143_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l143_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l143_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l143_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l144" pos="0.01632929025 0 0" quat="1 0 0 0"><joint name="belt_l144_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l144_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l144_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008164645123 0 0" mass="0.0004382336733" diaginertia="1.97205153e-9 1.072378687e-8 1.072378687e-8"/><geom name="belt_l144_c" type="capsule" fromto="0 0 0 0.01632929025 0 0" size="0.003" contype="2" conaffinity="0" friction="0.6 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>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l009" body2="belt_l010" anchor="0.01630831319 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l020" body2="belt_l021" anchor="0.01628588633 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l030" body2="belt_l031" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l040" body2="belt_l041" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l051" body2="belt_l052" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l061" body2="belt_l062" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l072" body2="belt_l073" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l082" body2="belt_l083" anchor="0.01626477619 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l092" body2="belt_l093" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin9" body1="belt_l103" body2="belt_l104" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin10" body1="belt_l113" body2="belt_l114" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin11" body1="belt_l123" body2="belt_l124" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin12" body1="belt_l134" body2="belt_l135" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin13" body1="belt_l144" body2="belt_l000" anchor="0.01632929025 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="belt_l009" body2="belt_l010"/><exclude body1="belt_l020" body2="belt_l021"/><exclude body1="belt_l030" body2="belt_l031"/><exclude body1="belt_l040" body2="belt_l041"/><exclude body1="belt_l051" body2="belt_l052"/><exclude body1="belt_l061" body2="belt_l062"/><exclude body1="belt_l072" body2="belt_l073"/><exclude body1="belt_l082" body2="belt_l083"/><exclude body1="belt_l092" body2="belt_l093"/><exclude body1="belt_l103" body2="belt_l104"/><exclude body1="belt_l113" body2="belt_l114"/><exclude body1="belt_l123" body2="belt_l124"/><exclude body1="belt_l134" body2="belt_l135"/><exclude body1="belt_l144" body2="belt_l000"/></contact>
<actuator><velocity name="drive" joint="j_drive" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
