<mujoco model="8-variable-speed-stepped-pulleys">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0002" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<body name="shaft_top" pos="0 0 0.47" quat="1 0 0 0"><joint name="j_top" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 -0.02945611624 0" mass="3.360931875" fullinertia="0.01003999181 0.002721412345 0.01003999181 0 0 0"/><body name="top1_w" pos="0 -0.075 0" quat="1 0 0 0"><geom name="top1_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.054" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="top2_w" pos="0 -0.025 0" quat="1 0 0 0"><geom name="top2_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.04528" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="top3_w" pos="0 0.025 0" quat="1 0 0 0"><geom name="top3_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.03328" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="top4_w" pos="0 0.075 0" quat="1 0 0 0"><geom name="top4_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.022" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="sh_top" type="capsule" fromto="0 -0.092 0 0 0.092 0" size="0.007" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="shaft_bot" pos="0 0 0.36" quat="1 0 0 0"><joint name="j_bot" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0.02945611624 0" mass="3.360931875" fullinertia="0.01003999181 0.002721412345 0.01003999181 0 0 0"/><body name="bot1_w" pos="0 -0.075 0" quat="1 0 0 0"><geom name="bot1_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.022" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="bot2_w" pos="0 -0.025 0" quat="1 0 0 0"><geom name="bot2_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.03328" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="bot3_w" pos="0 0.025 0" quat="1 0 0 0"><geom name="bot3_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.04528" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="bot4_w" pos="0 0.075 0" quat="1 0 0 0"><geom name="bot4_w_rim" condim="3" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.054" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<geom name="sh_bot" type="capsule" fromto="0 -0.092 0 0 0.092 0" size="0.007" contype="0" conaffinity="0" group="1" mass="0"/>
</body>
<body name="belt_l000" pos="-0.04703 -0.025 0.47" quat="0.732025575 0 0.6812771518 0">
<freejoint name="belt_root0"/><inertial pos="0.003740560625 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.393109895e-8 4.083667343e-8"/><geom name="belt_l000_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.007481121251 0 0" quat="0.9998240001 0 -0.01876083111 0"><joint name="belt_l001_s" type="slide" axis="0.9992960624 0 -0.0375150584" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l001_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l002_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l003_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l004_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l005_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l006_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l007_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l008" pos="-0.04077679004 -0.025 0.4104483066" quat="0.7446780641 0 0.6674238389 0">
<freejoint name="belt_root1"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l009_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l010_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l011_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l012_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l013_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l014_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l015" pos="0.007486084138 0 0" quat="0.9996434547 0 -0.02670137579 0"><joint name="belt_l015_s" type="slide" axis="0.9985740731 0 -0.05338371109" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l015_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003738313054 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.391736798e-8 4.082294246e-8"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l016" pos="-0.03384893134 -0.025 0.3509806025" quat="0.8243374743 0 0.5660986914 0">
<freejoint name="belt_root2"/><inertial pos="0.003735921811 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276834e-8 4.080834282e-8"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.007471843622 0 0" quat="0.994296975 0 -0.1066467322 0"><joint name="belt_l017_s" type="slide" axis="0.977252949 0 -0.2120770464" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921356 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276556e-8 4.080834004e-8"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.007471842711 0 0" quat="0.9942966273 0 -0.1066499737 0"><joint name="belt_l018_s" type="slide" axis="0.9772515662 0 -0.2120834184" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735922454 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390277227e-8 4.080834674e-8"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.007471844908 0 0" quat="0.9942965201 0 -0.1066509729 0"><joint name="belt_l019_s" type="slide" axis="0.97725114 0 -0.2120853824" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921611 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276712e-8 4.08083416e-8"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.007471843222 0 0" quat="0.994296975 0 -0.1066467322 0"><joint name="belt_l020_s" type="slide" axis="0.977252949 0 -0.2120770464" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921509 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39027665e-8 4.080834097e-8"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.007471843017 0 0" quat="0.9942965595 0 -0.1066506058 0"><joint name="belt_l021_s" type="slide" axis="0.9772512966 0 -0.2120846607" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735922446 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390277222e-8 4.080834669e-8"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.007471844891 0 0" quat="0.9942965879 0 -0.1066503409 0"><joint name="belt_l022_s" type="slide" axis="0.9772514096 0 -0.2120841401" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921441 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276608e-8 4.080834056e-8"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.007471842882 0 0" quat="0.994296975 0 -0.1066467322 0"><joint name="belt_l023_s" type="slide" axis="0.977252949 0 -0.2120770464" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921691 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276761e-8 4.080834209e-8"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l024" pos="0.01361723171 -0.025 0.3277250788" quat="0.9681524387 0 -0.2503614496 0">
<freejoint name="belt_root3"/><inertial pos="0.003735922466 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390277234e-8 4.080834682e-8"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.007471844932 0 0" quat="0.9942966557 0 -0.1066497089 0"><joint name="belt_l025_s" type="slide" axis="0.9772516792 0 -0.2120828977" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735921301 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390276523e-8 4.08083397e-8"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l027" pos="0.007471843808 0 0" quat="0.9942964239 0 -0.1066518698 0"><joint name="belt_l027_s" type="slide" axis="0.9772507573 0 -0.2120871455" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003735922516 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.390277264e-8 4.080834712e-8"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l029" pos="0.007471915367 0 0" quat="0.9987338411 0 -0.05030620835 0"><joint name="belt_l029_s" type="slide" axis="0.9949385708 0 -0.1004850254" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l029_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l029_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l030" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l030_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l030_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l030_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l031" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l031_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l031_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l031_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l032" pos="0.0372949405 -0.025 0.3787218192" quat="0.7446780641 0 -0.6674238389 0">
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<body name="belt_l033" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l033_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l033_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l035" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l035_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l035_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l035_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l036" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l037" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l037_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l037_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l038" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l038_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l038_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l039" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l039_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l039_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l040" pos="0.04382824606 -0.025 0.4382530638" quat="0.7446780641 0 -0.6674238389 0">
<freejoint name="belt_root5"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l040_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l041" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l041_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l042" pos="0.007486084138 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003743042069 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.39462683e-8 4.085184277e-8"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l043" pos="0.007486084138 0 0" quat="0.9999745995 0 -0.007127438721 0"><joint name="belt_l043_s" type="slide" axis="0.9998983992 0 -0.01425451536" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003742223466 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.394126297e-8 4.084683745e-8"/><geom name="belt_l043_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l045" pos="0.007478179545 0 0" quat="0.9968345447 0 -0.07950402806 0"><joint name="belt_l045_s" type="slide" axis="0.987358219 0 -0.1585047232" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l045_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739090958 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211946e-8 4.082769394e-8"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.007478181917 0 0" quat="0.9968344956 0 -0.07950464434 0"><joint name="belt_l046_s" type="slide" axis="0.9873580231 0 -0.1585059441" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739092254 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212737e-8 4.082770185e-8"/><geom name="belt_l046_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l047" pos="0.007478184509 0 0" quat="0.9968343208 0 -0.07950683585 0"><joint name="belt_l047_s" type="slide" axis="0.9873573261 0 -0.1585102854" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739091969 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212563e-8 4.082770011e-8"/><geom name="belt_l047_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l048" pos="0.03895404553 -0.025 0.4963514852" quat="-0.4333632653 0 0.9012193297 0">
<freejoint name="belt_root6"/><inertial pos="0.003739090476 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211651e-8 4.082769099e-8"/><geom name="belt_l048_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l049" pos="0.007478180953 0 0" quat="0.9968345447 0 -0.07950402802 0"><joint name="belt_l049_s" type="slide" axis="0.9873582191 0 -0.1585047232" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739089463 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211032e-8 4.08276848e-8"/><geom name="belt_l049_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
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<body name="belt_l051" pos="0.007478177858 0 0" quat="0.9968345447 0 -0.07950402792 0"><joint name="belt_l051_s" type="slide" axis="0.9873582191 0 -0.158504723" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739088874 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392210672e-8 4.08276812e-8"/><geom name="belt_l051_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l052" pos="0.007478177748 0 0" quat="0.9968345447 0 -0.07950402794 0"><joint name="belt_l052_s" type="slide" axis="0.9873582191 0 -0.158504723" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l052_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739089298 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392210931e-8 4.082768379e-8"/><geom name="belt_l052_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l053" pos="0.007478178596 0 0" quat="0.9968345447 0 -0.079504028 0"><joint name="belt_l053_s" type="slide" axis="0.9873582191 0 -0.1585047231" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739090201 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211483e-8 4.082768931e-8"/><geom name="belt_l053_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l054" pos="0.007478180402 0 0" quat="0.9968345447 0 -0.07950402811 0"><joint name="belt_l054_s" type="slide" axis="0.987358219 0 -0.1585047233" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l054_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739091583 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212327e-8 4.082769775e-8"/><geom name="belt_l054_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l055" pos="0.007478183166 0 0" quat="0.9968343836 0 -0.07950604818 0"><joint name="belt_l055_s" type="slide" axis="0.9873575766 0 -0.1585087251" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l055_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739092233 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212724e-8 4.082770172e-8"/><geom name="belt_l055_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
<body name="belt_l056" pos="-0.01378061843 -0.025 0.5149656994" quat="0.1873721919 0 0.9822889909 0">
<freejoint name="belt_root7"/><inertial pos="0.003739091299 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212154e-8 4.082769602e-8"/><geom name="belt_l056_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l057" pos="0.007478182598 0 0" quat="0.9968345447 0 -0.07950402809 0"><joint name="belt_l057_s" type="slide" axis="0.987358219 0 -0.1585047233" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739090003 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211362e-8 4.08276881e-8"/><geom name="belt_l057_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l058" pos="0.007478180006 0 0" quat="0.9968345447 0 -0.07950402799 0"><joint name="belt_l058_s" type="slide" axis="0.9873582191 0 -0.1585047231" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739089186 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392210863e-8 4.082768311e-8"/><geom name="belt_l058_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l059" pos="0.007478178372 0 0" quat="0.9968345447 0 -0.07950402793 0"><joint name="belt_l059_s" type="slide" axis="0.9873582191 0 -0.158504723" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739088848 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392210657e-8 4.082768105e-8"/><geom name="belt_l059_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l060" pos="0.007478177697 0 0" quat="0.9968345447 0 -0.07950402792 0"><joint name="belt_l060_s" type="slide" axis="0.9873582191 0 -0.158504723" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l060_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00373908899 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392210743e-8 4.082768191e-8"/><geom name="belt_l060_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l061" pos="0.007478177979 0 0" quat="0.9968345447 0 -0.07950402796 0"><joint name="belt_l061_s" type="slide" axis="0.9873582191 0 -0.158504723" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00373908961 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211122e-8 4.08276857e-8"/><geom name="belt_l061_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l062" pos="0.00747817922 0 0" quat="0.9968345447 0 -0.07950402804 0"><joint name="belt_l062_s" type="slide" axis="0.9873582191 0 -0.1585047232" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l062_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.00373909071 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392211794e-8 4.082769242e-8"/><geom name="belt_l062_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l063" pos="0.007478181419 0 0" quat="0.9968345447 0 -0.07950402817 0"><joint name="belt_l063_s" type="slide" axis="0.987358219 0 -0.1585047234" stiffness="30000" springref="-0.001333333333" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.00001" armature="0"/><inertial pos="0.003739092288 0 0" mass="0.002450602609" diaginertia="3.190888814e-8 1.392212758e-8 4.082770206e-8"/><geom name="belt_l063_c" type="capsule" fromto="0 -0.00425 0 0 0.00425 0" size="0.00175" contype="2" conaffinity="0" friction="0.7 0.005 0.0001" solref="0.004 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l007" body2="belt_l008" anchor="0.007486084138 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l015" body2="belt_l016" anchor="0.007476626108 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l023" body2="belt_l024" anchor="0.007471843383 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l031" body2="belt_l032" anchor="0.007486084138 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l039" body2="belt_l040" anchor="0.007486084138 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l047" body2="belt_l048" anchor="0.007478183938 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l055" body2="belt_l056" anchor="0.007478184465 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l063" body2="belt_l000" anchor="0.007478184577 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>

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