<mujoco model="4-pulleys-with-right-angle-transition">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="p_top" pos="0 -0.058 0.49"><joint name="j_top" 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_top_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_top_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_top_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_left" pos="-0.23 -0.075 0.053" quat="1 0 0 0"><joint name="j_left" type="hinge" axis="-0.07088 0.99743 0.01081" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.5" fullinertia="0.0003373214261 0.0004991594824 0.0003365190884 -0.0000115591065 -1.252186599e-7 0.000001762076805"/><body name="gl_w" pos="0 0 0" quat="0.999356 0.005406 0 0.035463"><geom name="gl_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="gl_w_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0096 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="gl_w_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0096 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>
</body>
<body name="g_right" pos="0.23 -0.041 0.065" quat="1 0 0 0"><joint name="j_right" type="hinge" axis="-0.07195 0.99734 -0.01185" damping="0.0005" frictionloss="0"/><inertial pos="0 0 0" mass="0.5" fullinertia="0.0003373464075 0.0004991306463 0.000336522944 -0.00001173251639 1.393554611e-7 -0.000001931682121"/><body name="gr_w" pos="0 0 0" quat="0.999334 -0.005927 0 0.035999"><geom name="gr_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="gr_w_flangeL" type="cylinder" fromto="0 -0.006 0 0 -0.0096 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="gr_w_flangeR" type="cylinder" fromto="0 0.006 0 0 0.0096 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>
</body>
<body name="drum" pos="0 0 0" quat="1 0 0 0"><joint name="j_drum" type="hinge" axis="0 0 1" damping="0.01" frictionloss="0"/><inertial pos="0 0 0.005513611665" mass="1.305859106" fullinertia="0.001403749315 0.00140374945 0.001453905618 0 0 -9.817703119e-12"/><body name="p_drum_w" pos="0 0 0.006" quat="0.7071068 0.7071068 0 0"><geom name="p_drum_w_rim" condim="3" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.055" 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 -0.02 0 0 -0.029 0" size="0.061" 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 0.02 0 0 0.029 0" size="0.061" 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 0 -0.06 0 0 0.06" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="belt_l000" pos="-0.06460885899 -0.058 0.4231068364" quat="-0.4149762385 0 0.9098322491 0">
<joint name="belt_root0" type="free" damping="0.0001"/><inertial pos="0.008154834133 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069862107e-8 1.069862107e-8"/><geom name="belt_l000_c" type="capsule" fromto="0 0 0 0.01630966827 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966827 0 0" quat="0.9961482856 0 0.08768462242 0"><joint name="belt_l001_s" type="slide" axis="0.984622814 0 0.1746937726" 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="0.008154829392 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069860978e-8 1.069860978e-8"/><geom name="belt_l001_c" type="capsule" fromto="0 0 0 0.01630965878 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630965878 0 0" quat="0.9961482856 0 0.08768462263 0"><joint name="belt_l002_s" type="slide" axis="0.9846228139 0 0.174693773" 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="0.008154829809 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861077e-8 1.069861077e-8"/><geom name="belt_l002_c" type="capsule" fromto="0 0 0 0.01630965962 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630965962 0 0" quat="0.9961481869 0 0.087685744 0"><joint name="belt_l003_s" type="slide" axis="0.9846224206 0 0.1746959898" 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="0.008154833771 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069862021e-8 1.069862021e-8"/><geom name="belt_l003_c" type="capsule" fromto="0 0 0 0.01630966754 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966754 0 0" quat="0.9961477742 0 0.08769043255 0"><joint name="belt_l004_s" type="slide" axis="0.9846207761 0 0.1747052584" 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="0.008154833016 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861841e-8 1.069861841e-8"/><geom name="belt_l004_c" type="capsule" fromto="0 0 0 0.01630966603 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966603 0 0" quat="0.9961482856 0 0.08768462249 0"><joint name="belt_l005_s" type="slide" axis="0.984622814 0 0.1746937727" 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="0.00815482911 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069860911e-8 1.069860911e-8"/><geom name="belt_l005_c" type="capsule" fromto="0 0 0 0.01630965822 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630965822 0 0" quat="0.9961482856 0 0.08768462262 0"><joint name="belt_l006_s" type="slide" axis="0.9846228139 0 0.174693773" 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="0.008154830362 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861209e-8 1.069861209e-8"/><geom name="belt_l006_c" type="capsule" fromto="0 0 0 0.01630966072 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966072 0 0" quat="0.9961480882 0 0.0876868656 0"><joint name="belt_l007_s" type="slide" axis="0.9846220272 0 0.174698207" 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="0.008154833549 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861968e-8 1.069861968e-8"/><geom name="belt_l007_c" type="capsule" fromto="0 0 0 0.0163096671 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.0163096671 0 0" quat="0.9961478729 0 0.08768931092 0"><joint name="belt_l008_s" type="slide" axis="0.9846211695 0 0.1747030411" 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="0.008154832034 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861607e-8 1.069861607e-8"/><geom name="belt_l008_c" type="capsule" fromto="0 0 0 0.01630966407 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966407 0 0" quat="0.9961482856 0 0.08768462255 0"><joint name="belt_l009_s" type="slide" axis="0.9846228139 0 0.1746937729" 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="0.008154828963 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069860875e-8 1.069860875e-8"/><geom name="belt_l009_c" type="capsule" fromto="0 0 0 0.01630965793 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="-0.05385286898 -0.058 0.5658211651" quat="0.9651207883 0 -0.2618050115 0">
<joint name="belt_root1" type="free" damping="0.0001"/><inertial pos="0.008154831049 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861373e-8 1.069861373e-8"/><geom name="belt_l010_c" type="capsule" fromto="0 0 0 0.0163096621 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.0163096621 0 0" quat="0.9961479895 0 0.0876879872 0"><joint name="belt_l011_s" type="slide" axis="0.9846216338 0 0.1747004243" 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="0.008154833466 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861948e-8 1.069861948e-8"/><geom name="belt_l011_c" type="capsule" fromto="0 0 0 0.01630966693 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966693 0 0" quat="0.9961479717 0 0.0876881893 0"><joint name="belt_l012_s" type="slide" axis="0.9846215629 0 0.1747008238" 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="0.008154831188 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861405e-8 1.069861405e-8"/><geom name="belt_l012_c" type="capsule" fromto="0 0 0 0.01630966238 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966238 0 0" quat="0.9961482856 0 0.08768462259 0"><joint name="belt_l013_s" type="slide" axis="0.9846228139 0 0.1746937729" 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="0.00815482895 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069860873e-8 1.069860873e-8"/><geom name="belt_l013_c" type="capsule" fromto="0 0 0 0.0163096579 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.0163096579 0 0" quat="0.9961482856 0 0.08768462255 0"><joint name="belt_l014_s" type="slide" axis="0.9846228139 0 0.1746937729" 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="0.008154831872 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861568e-8 1.069861568e-8"/><geom name="belt_l014_c" type="capsule" fromto="0 0 0 0.01630966374 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966374 0 0" quat="0.9961478907 0 0.08768910882 0"><joint name="belt_l015_s" type="slide" axis="0.9846212404 0 0.1747026416" 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="0.008154833524 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861962e-8 1.069861962e-8"/><geom name="belt_l015_c" type="capsule" fromto="0 0 0 0.01630966705 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966705 0 0" quat="0.9961480704 0 0.08768706769 0"><joint name="belt_l016_s" type="slide" axis="0.9846219563 0 0.1746986066" 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="0.008154830476 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861236e-8 1.069861236e-8"/><geom name="belt_l016_c" type="capsule" fromto="0 0 0 0.01630966095 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966095 0 0" quat="0.9961482856 0 0.08768462262 0"><joint name="belt_l017_s" type="slide" axis="0.9846228139 0 0.174693773" 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="0.008154829073 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069860902e-8 1.069860902e-8"/><geom name="belt_l017_c" type="capsule" fromto="0 0 0 0.01630965815 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630965815 0 0" quat="0.9961482856 0 0.0876846225 0"><joint name="belt_l018_s" type="slide" axis="0.984622814 0 0.1746937728" 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="0.008154832829 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069861797e-8 1.069861797e-8"/><geom name="belt_l018_c" type="capsule" fromto="0 0 0 0.01630966566 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630966566 0 0" quat="0.996147792 0 0.08769023044 0"><joint name="belt_l019_s" type="slide" axis="0.984620847 0 0.1747048589" 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="0.008154833721 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.069862009e-8 1.069862009e-8"/><geom name="belt_l019_c" type="capsule" fromto="0 0 0 0.01630966744 0 0" size="0.003" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l020" pos="0.08444075492 -0.058 0.5289710839" quat="0.8178666679 0 0.5754077802 0">
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<body name="belt_l030" pos="0.03043539708 -0.06013077997 0.3888445518" quat="0.3830492781 -0.01958677505 0.9234833998 -0.008247371226">
<joint name="belt_root3" type="free" damping="0.0001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l030_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l040" pos="-0.08482288414 -0.0670703922 0.2733613971" quat="0.3830492781 -0.01958677505 0.9234833998 -0.008247371226">
<joint name="belt_root4" type="free" damping="0.0001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l040_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l100" pos="0.001016974871 -0.057991023 0.01789656359" quat="0.9943968108 -0.1000665236 0.004194461852 0.03382425141">
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<body name="belt_l108" pos="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l108_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l109_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l110" pos="0.1638503408 -0.04638087765 0.01374765526" quat="0.994232829 -0.1002025 0.009624532933 0.03698525524">
<joint name="belt_root11" type="free" damping="0.0001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l110_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l111_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l130" pos="0.1700942998 -0.04376071039 0.1964184505" quat="-0.3750495472 -0.006254344085 0.9260006414 0.04267941566">
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<joint name="belt_root14" type="free" damping="0.0001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l140_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l141_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l142_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l143_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01633064255 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="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l144_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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_l145" pos="0.01633064255 0 0" quat="1 0 0 0"><joint name="belt_l145_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l145_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l145_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l145_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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_l146" pos="0.01633064255 0 0" quat="1 0 0 0"><joint name="belt_l146_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l146_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l146_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l146_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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_l147" pos="0.01633064255 0 0" quat="1 0 0 0"><joint name="belt_l147_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l147_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l147_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l147_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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_l148" pos="0.01633064255 0 0" quat="1 0 0 0"><joint name="belt_l148_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l148_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l148_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l148_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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_l149" pos="0.01633064255 0 0" quat="1 0 0 0"><joint name="belt_l149_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.0006666666667" damping="2"/><joint name="belt_l149_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l149_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.008165321275 0 0" mass="0.0004381608868" diaginertia="1.97172399e-9 1.072361841e-8 1.072361841e-8"/><geom name="belt_l149_c" type="capsule" fromto="0 0 0 0.01633064255 0 0" size="0.003" contype="2" conaffinity="2" condim="1" 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="0.01630965793 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l019" body2="belt_l020" anchor="0.01630966744 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l029" body2="belt_l030" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l039" body2="belt_l040" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l049" body2="belt_l050" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l059" body2="belt_l060" anchor="0.01626611182 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l069" body2="belt_l070" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l079" body2="belt_l080" anchor="0.01627685864 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l089" body2="belt_l090" anchor="0.01627686752 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin9" body1="belt_l099" body2="belt_l100" anchor="0.01627685718 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin10" body1="belt_l109" body2="belt_l110" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin11" body1="belt_l119" body2="belt_l120" anchor="0.01626611331 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin12" body1="belt_l129" body2="belt_l130" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin13" body1="belt_l139" body2="belt_l140" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin14" body1="belt_l149" body2="belt_l000" anchor="0.01633064255 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="belt_l009" body2="belt_l010"/><exclude body1="belt_l019" body2="belt_l020"/><exclude body1="belt_l029" body2="belt_l030"/><exclude body1="belt_l039" body2="belt_l040"/><exclude body1="belt_l049" body2="belt_l050"/><exclude body1="belt_l059" body2="belt_l060"/><exclude body1="belt_l069" body2="belt_l070"/><exclude body1="belt_l079" body2="belt_l080"/><exclude body1="belt_l089" body2="belt_l090"/><exclude body1="belt_l099" body2="belt_l100"/><exclude body1="belt_l109" body2="belt_l110"/><exclude body1="belt_l119" body2="belt_l120"/><exclude body1="belt_l129" body2="belt_l130"/><exclude body1="belt_l139" body2="belt_l140"/><exclude body1="belt_l149" body2="belt_l000"/></contact>
<actuator><velocity name="drive" joint="j_top" kv="2" forcerange="-5 5"/></actuator>
</mujoco>
