<mujoco model="6-pulleys-with-vibrating-lever">
<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="rocker" pos="0 0 0" quat="1 0 0 0"><joint name="j_lever" type="hinge" axis="0 1 0" damping="0.01" frictionloss="0"/><inertial pos="0 -0.004393739071 0.001552209287" mass="1.68103407" fullinertia="0.00261721336 0.009934032787 0.008630739965 0 0 0.00003285149372"/><body name="segment_w" pos="0 0 0" quat="1 0 0 0"><geom name="segment_w_rim" condim="3" type="capsule" fromto="0 -0.007 0 0 0.007 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="segment_w_flangeL" type="cylinder" fromto="0 -0.007 0 0 -0.0106 0" size="0.095" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="segment_w_flangeR" type="cylinder" fromto="0 0.007 0 0 0.0106 0" size="0.095" contype="1" conaffinity="2" solref="0.002 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="lever" type="capsule" fromto="-0.18 -0.019 0.006 0.18 -0.019 0.006" size="0.006" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="knob_l" type="capsule" fromto="-0.186 -0.019 0.006 -0.174 -0.019 0.006" size="0.011" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="knob_r" type="capsule" fromto="0.174 -0.019 0.006 0.186 -0.019 0.006" size="0.011" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="segment_bar" type="capsule" fromto="-0.093 0 0.003 0.093 0 0.003" size="0.0045" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="p_left" pos="-0.12 0 -0.237"><joint name="j_left" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" diaginertia="0.00028095 0.00040344 0.00028095"/><geom name="p_left_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="p_left_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="p_left_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="p_right" pos="0.12 0 -0.237"><joint name="j_right" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" diaginertia="0.00028095 0.00040344 0.00028095"/><geom name="p_right_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="p_right_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="p_right_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="belt_l000" pos="0.09283265021 0 -0.005576652603" quat="0.6657747881 0 0.7461527535 0">
<freejoint name="belt_root0"/><inertial pos="0.004994413162 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577725e-9 2.835577725e-9"/><geom name="belt_l000_c" type="capsule" fromto="0 0 0 0.009988826324 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="0.009988826324 0 0" quat="0.9985570056 0 0.05370201655 0"><joint name="belt_l001_s" type="slide" axis="0.9942321868 0 0.1072490497" stiffness="30000" springref="-0.0005" 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="0.00499441191 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576605e-9 2.835576605e-9"/><geom name="belt_l001_c" type="capsule" fromto="0 0 0 0.009988823819 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="0.009988823819 0 0" quat="0.9985570056 0 0.0537020165 0"><joint name="belt_l002_s" type="slide" axis="0.9942321868 0 0.1072490496" stiffness="30000" springref="-0.0005" 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="0.004994412137 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576808e-9 2.835576808e-9"/><geom name="belt_l002_c" type="capsule" fromto="0 0 0 0.009988824274 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="0.009988824274 0 0" quat="0.9985569226 0 0.05370355949 0"><joint name="belt_l003_s" type="slide" axis="0.9942318554 0 0.1072521222" stiffness="30000" springref="-0.0005" 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="0.004994413011 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577589e-9 2.835577589e-9"/><geom name="belt_l003_c" type="capsule" fromto="0 0 0 0.009988826021 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="0.009988826021 0 0" quat="0.9985568182 0 0.05370550121 0"><joint name="belt_l004_s" type="slide" axis="0.9942314383 0 0.1072559888" stiffness="30000" springref="-0.0005" 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="0.00499441262 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577241e-9 2.835577241e-9"/><geom name="belt_l004_c" type="capsule" fromto="0 0 0 0.009988825241 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="0.009988825241 0 0" quat="0.9985570056 0 0.05370201652 0"><joint name="belt_l005_s" type="slide" axis="0.9942321868 0 0.1072490496" stiffness="30000" springref="-0.0005" 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="0.004994411822 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576527e-9 2.835576527e-9"/><geom name="belt_l005_c" type="capsule" fromto="0 0 0 0.009988823644 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="0.009988823644 0 0" quat="0.9985570056 0 0.05370201651 0"><joint name="belt_l006_s" type="slide" axis="0.9942321868 0 0.1072490496" stiffness="30000" springref="-0.0005" 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="0.004994412503 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577136e-9 2.835577136e-9"/><geom name="belt_l006_c" type="capsule" fromto="0 0 0 0.009988825006 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="0.009988825006 0 0" quat="0.9985568396 0 0.05370510241 0"><joint name="belt_l007_s" type="slide" axis="0.9942315239 0 0.1072551947" stiffness="30000" springref="-0.0005" 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="0.004994412993 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577574e-9 2.835577574e-9"/><geom name="belt_l007_c" type="capsule" fromto="0 0 0 0.009988825987 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="0.009988825987 0 0" quat="0.9985758958 -0.0002933017497 0.05306249438 -0.005519605907"><joint name="belt_l008_s" type="slide" axis="0.9943078113 0.01099236418 0.1059770935" stiffness="30000" springref="-0.0005" 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="0.004994995469 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.836098144e-9 2.836098144e-9"/><geom name="belt_l008_c" type="capsule" fromto="0 0 0 0.009989990937 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="0.009989990937 0 0" quat="0.9995110116 -0.0006863802452 0.01920138137 -0.02466928364"><joint name="belt_l009_s" type="slide" axis="0.9980454668 0.04928808239 0.03841784926" stiffness="30000" springref="-0.0005" 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="0.005005947872 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845897842e-9 2.845897842e-9"/><geom name="belt_l009_c" type="capsule" fromto="0 0 0 0.01001189574 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_l010" pos="0.01001189574 0 0" quat="0.9999997898 0 0 0.0006484286538"><joint name="belt_l010_s" type="slide" axis="0.9999991591 -0.001296857035 0" stiffness="30000" springref="-0.0005" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l010_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.005005559468 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845549949e-9 2.845549949e-9"/><geom name="belt_l010_c" type="capsule" fromto="0 0 0 0.01001111894 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>
<body name="belt_l011" pos="0.03118217369 -0.001306281048 -0.09022295551" quat="0.2763649928 -0.02726068685 0.9606340296 -0.007842632359">
<freejoint name="belt_root1"/><inertial pos="0.005004871482 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.844933788e-9 2.844933788e-9"/><geom name="belt_l011_c" type="capsule" fromto="0 0 0 0.01000974296 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="0.01000974296 0 0" quat="0.9999998095 0 0 -0.0006172317342"><joint name="belt_l012_s" type="slide" axis="0.999999238 0.001234463233 0" stiffness="30000" springref="-0.0005" 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="0.005005226258 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845251515e-9 2.845251515e-9"/><geom name="belt_l012_c" type="capsule" fromto="0 0 0 0.01001045252 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="0.01001045252 0 0" quat="0.999988836 0 0 0.004725243567"><joint name="belt_l013_s" type="slide" axis="0.9999553441 -0.009450381629 0" stiffness="30000" springref="-0.0005" 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="0.005002705679 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.842994643e-9 2.842994643e-9"/><geom name="belt_l013_c" type="capsule" fromto="0 0 0 0.01000541136 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="0.01000541136 0 0" quat="0.9999964354 0 0 0.002670039909"><joint name="belt_l014_s" type="slide" axis="0.9999857418 -0.005340060784 0" stiffness="30000" springref="-0.0005" 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="0.005001479975 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.841897585e-9 2.841897585e-9"/><geom name="belt_l014_c" type="capsule" fromto="0 0 0 0.01000295995 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="0.01000295995 0 0" quat="0.9999953065 0 0 0.003063827184"><joint name="belt_l015_s" type="slide" axis="0.9999812259 -0.006127625608 0" stiffness="30000" springref="-0.0005" 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="0.005000249877 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.840796864e-9 2.840796864e-9"/><geom name="belt_l015_c" type="capsule" fromto="0 0 0 0.01000049975 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="0.01000049975 0 0" quat="0.9999975651 0 0 0.002206764598"><joint name="belt_l016_s" type="slide" axis="0.9999902604 -0.004413518449 0" stiffness="30000" springref="-0.0005" 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="0.004999480531 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.840108573e-9 2.840108573e-9"/><geom name="belt_l016_c" type="capsule" fromto="0 0 0 0.009998961062 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="0.009998961062 0 0" quat="0.9999863758 0 0 0.00521998672"><joint name="belt_l017_s" type="slide" axis="0.9999455035 -0.0104398312 0" stiffness="30000" springref="-0.0005" 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="0.004998049027 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.838828168e-9 2.838828168e-9"/><geom name="belt_l017_c" type="capsule" fromto="0 0 0 0.009996098055 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="0.009996098055 0 0" quat="0.9999923801 0 0 0.003903806286"><joint name="belt_l018_s" type="slide" axis="0.9999695206 -0.007807553079 0" stiffness="30000" springref="-0.0005" 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="0.004997334906 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.838189561e-9 2.838189561e-9"/><geom name="belt_l018_c" type="capsule" fromto="0 0 0 0.009994669813 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="0.009994669813 0 0" quat="0.9999918567 0 0 0.004035646726"><joint name="belt_l019_s" type="slide" axis="0.9999674271 -0.008071227725 0" stiffness="30000" springref="-0.0005" 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="0.004996917046 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.837815929e-9 2.837815929e-9"/><geom name="belt_l019_c" type="capsule" fromto="0 0 0 0.009993834092 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_l020" pos="0.009993834092 0 0" quat="0.9999904022 0 0 0.004381265731"><joint name="belt_l020_s" type="slide" axis="0.999961609 -0.008762447362 0" stiffness="30000" springref="-0.0005" 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="0.004996831979 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.83773987e-9 2.83773987e-9"/><geom name="belt_l020_c" type="capsule" fromto="0 0 0 0.009993663959 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_l033" pos="-0.1537360526 0 -0.2087533132" quat="0.4738411969 0 0.8806103112 0">
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<body name="belt_l044" pos="-0.1098559182 0 -0.281" quat="1 0 0 0">
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<body name="belt_l055" pos="0.00007405852736 0 -0.281" quat="1 0 0 0">
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<body name="belt_l066" pos="0.1100040352 0 -0.281" quat="1 0 0 0">
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<body name="belt_l077" pos="0.1536407841 0 -0.2086399001" quat="-0.3694348422 0 0.929256637 0">
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<body name="belt_l088" pos="0.06181642933 0.004365140639 -0.1485609067" quat="-0.2764718157 0.005442129942 0.9610053419 -0.001565647433">
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<body name="belt_l094" pos="0.009998209061 0 0" quat="0.9999942126 0 0 -0.003402174161"><joint name="belt_l094_s" type="slide" axis="0.9999768504 0.006804308943 0" stiffness="30000" springref="-0.0005" 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="0.005000249877 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.840796864e-9 2.840796864e-9"/><geom name="belt_l094_c" type="capsule" fromto="0 0 0 0.01000049975 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_l095" pos="0.01000049975 0 0" quat="0.9999953065 0 0 -0.003063827184"><joint name="belt_l095_s" type="slide" axis="0.9999812259 0.006127625608 0" stiffness="30000" springref="-0.0005" 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="0.005001479975 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.841897585e-9 2.841897585e-9"/><geom name="belt_l095_c" type="capsule" fromto="0 0 0 0.01000295995 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_l096" pos="0.01000295995 0 0" quat="0.9999964354 0 0 -0.002670039909"><joint name="belt_l096_s" type="slide" axis="0.9999857418 0.005340060784 0" stiffness="30000" springref="-0.0005" 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="0.005002705679 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.842994643e-9 2.842994643e-9"/><geom name="belt_l096_c" type="capsule" fromto="0 0 0 0.01000541136 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_l097" pos="0.01000541136 0 0" quat="0.999988836 0 0 -0.004725243567"><joint name="belt_l097_s" type="slide" axis="0.9999553441 0.009450381629 0" stiffness="30000" springref="-0.0005" 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="0.005005226258 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845251515e-9 2.845251515e-9"/><geom name="belt_l097_c" type="capsule" fromto="0 0 0 0.01001045252 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_l098" pos="0.01001045252 0 0" quat="0.9999998095 0 0 0.0006172317342"><joint name="belt_l098_s" type="slide" axis="0.999999238 -0.001234463233 0" stiffness="30000" springref="-0.0005" 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="0.005004871482 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.844933788e-9 2.844933788e-9"/><geom name="belt_l098_c" type="capsule" fromto="0 0 0 0.01000974296 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>
<body name="belt_l099" pos="-0.03130764687 0.001306281048 -0.09014424628" quat="-0.2763555041 -0.02839915555 0.9606010472 0.008170158645">
<freejoint name="belt_root9"/><inertial pos="0.005005559468 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845549949e-9 2.845549949e-9"/><geom name="belt_l099_c" type="capsule" fromto="0 0 0 0.01001111894 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_l100" pos="0.01001111894 0 0" quat="0.9999997898 0 0 -0.0006484286538"><joint name="belt_l100_s" type="slide" axis="0.9999991591 0.001296857035 0" stiffness="30000" springref="-0.0005" 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="0.005005947872 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.845897842e-9 2.845897842e-9"/><geom name="belt_l100_c" type="capsule" fromto="0 0 0 0.01001189574 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_l101" pos="0.01001189574 0 0" quat="0.9994977248 -0.0007106607693 0.01988059692 0.02466890477"><joint name="belt_l101_s" type="slide" axis="0.997992414 -0.0493412851 0.03970616034" stiffness="30000" springref="-0.0005" 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="0.004994949445 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.83605701e-9 2.83605701e-9"/><geom name="belt_l101_c" type="capsule" fromto="0 0 0 0.00998989889 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_l102" pos="0.00998989889 0 0" quat="0.9985697542 -0.0002939425879 0.05317794118 0.005519622821"><joint name="belt_l102_s" type="slide" axis="0.9942832807 -0.01105471933 0.1062005224" stiffness="30000" springref="-0.0005" 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="0.004994413081 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577652e-9 2.835577652e-9"/><geom name="belt_l102_c" type="capsule" fromto="0 0 0 0.009988826162 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_l103" pos="0.009988826162 0 0" quat="0.9985567707 0 0.05370638356 0"><joint name="belt_l103_s" type="slide" axis="0.9942312487 0 0.1072577459" stiffness="30000" springref="-0.0005" 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="0.004994412913 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577502e-9 2.835577502e-9"/><geom name="belt_l103_c" type="capsule" fromto="0 0 0 0.009988825826 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_l104" pos="0.009988825826 0 0" quat="0.9985570056 0 0.05370201654 0"><joint name="belt_l104_s" type="slide" axis="0.9942321868 0 0.1072490497" stiffness="30000" springref="-0.0005" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0.000001"/><joint name="belt_l104_v" type="hinge" axis="0 0 1" damping="0.00001" armature="0.000001"/><inertial pos="0.004994411855 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576557e-9 2.835576557e-9"/><geom name="belt_l104_c" type="capsule" fromto="0 0 0 0.00998882371 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_l105" pos="0.00998882371 0 0" quat="0.9985570056 0 0.0537020165 0"><joint name="belt_l105_s" type="slide" axis="0.9942321868 0 0.1072490496" stiffness="30000" springref="-0.0005" 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="0.004994412277 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576933e-9 2.835576933e-9"/><geom name="belt_l105_c" type="capsule" fromto="0 0 0 0.009988824553 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_l106" pos="0.009988824553 0 0" quat="0.9985568871 0 0.05370422006 0"><joint name="belt_l106_s" type="slide" axis="0.9942317135 0 0.1072534376" stiffness="30000" springref="-0.0005" 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="0.004994412987 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577568e-9 2.835577568e-9"/><geom name="belt_l106_c" type="capsule" fromto="0 0 0 0.009988825974 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_l107" pos="0.009988825974 0 0" quat="0.9985568537 0 0.05370484065 0"><joint name="belt_l107_s" type="slide" axis="0.9942315802 0 0.1072546734" stiffness="30000" springref="-0.0005" 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="0.004994412431 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577071e-9 2.835577071e-9"/><geom name="belt_l107_c" type="capsule" fromto="0 0 0 0.009988824862 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_l108" pos="0.009988824862 0 0" quat="0.9985570056 0 0.05370201651 0"><joint name="belt_l108_s" type="slide" axis="0.9942321868 0 0.1072490496" stiffness="30000" springref="-0.0005" 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="0.004994411827 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835576532e-9 2.835576532e-9"/><geom name="belt_l108_c" type="capsule" fromto="0 0 0 0.009988823654 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="0.009988823654 0 0" quat="0.9985570377 0 0.05370142016 0"><joint name="belt_l109_s" type="slide" axis="0.9942323149 0 0.1072478621" stiffness="30000" springref="-0.0005" 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="0.004994413026 0 0" mass="0.0002684006269" diaginertia="1.207802821e-9 2.835577603e-9 2.835577603e-9"/><geom name="belt_l109_c" type="capsule" fromto="0 0 0 0.009988826052 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>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l010" body2="belt_l011" anchor="0.01001111894 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l021" body2="belt_l022" anchor="0.009994211773 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l032" body2="belt_l033" anchor="0.009972163336 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l043" body2="belt_l044" anchor="0.009993634247 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l054" body2="belt_l055" anchor="0.009993634247 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l065" body2="belt_l066" anchor="0.009993634247 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l076" body2="belt_l077" anchor="0.009972163663 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l087" body2="belt_l088" anchor="0.0099953811 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin8" body1="belt_l098" body2="belt_l099" anchor="0.01000974296 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_endA" body1="belt_l000" body2="segment_w" anchor="0 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_endB" body1="belt_l109" body2="segment_w" anchor="0.009988826052 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="belt_l010" body2="belt_l011"/><exclude body1="belt_l021" body2="belt_l022"/><exclude body1="belt_l032" body2="belt_l033"/><exclude body1="belt_l043" body2="belt_l044"/><exclude body1="belt_l054" body2="belt_l055"/><exclude body1="belt_l065" body2="belt_l066"/><exclude body1="belt_l076" body2="belt_l077"/><exclude body1="belt_l087" body2="belt_l088"/><exclude body1="belt_l098" body2="belt_l099"/><exclude body1="belt_l000" body2="segment_w"/><exclude body1="belt_l109" body2="segment_w"/></contact>
<actuator><velocity name="drive" joint="j_lever" kv="20" forcerange="-40 40"/></actuator>
</mujoco>
