<mujoco model="10-variable-speed-nonlinear-cone-pulleys">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="60" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="p_top_p0" vertex="0.075 -0.13 0 0.0649519052838329 -0.13 0.03749999999999999 0.037500000000000006 -0.13 0.06495190528383289 4.592425496802574e-18 -0.13 0.075 -0.037499999999999985 -0.13 0.0649519052838329 -0.0649519052838329 -0.13 0.03749999999999999 -0.075 -0.13 9.184850993605149e-18 -0.0649519052838329 -0.13 -0.03749999999999998 -0.03750000000000003 -0.13 -0.06495190528383288 -1.3777276490407722e-17 -0.13 -0.075 0.037500000000000006 -0.13 -0.06495190528383289 0.06495190528383288 -0.13 -0.03750000000000003 0.0675 -0.0975 0 0.05845671475544962 -0.0975 0.033749999999999995 0.03375000000000001 -0.0975 0.05845671475544961 4.133182947122317e-18 -0.0975 0.0675 -0.03374999999999999 -0.0975 0.05845671475544962 -0.05845671475544962 -0.0975 0.033749999999999995 -0.0675 -0.0975 8.266365894244634e-18 -0.058456714755449626 -0.0975 -0.03374999999999998 -0.03375000000000003 -0.0975 -0.0584567147554496 -1.2399548841366951e-17 -0.0975 -0.0675 0.03375000000000001 -0.0975 -0.05845671475544961 0.05845671475544959 -0.0975 -0.03375000000000003"/><mesh name="p_top_p1" vertex="0.0675 -0.0975 0 0.05845671475544962 -0.0975 0.033749999999999995 0.03375000000000001 -0.0975 0.05845671475544961 4.133182947122317e-18 -0.0975 0.0675 -0.03374999999999999 -0.0975 0.05845671475544962 -0.05845671475544962 -0.0975 0.033749999999999995 -0.0675 -0.0975 8.266365894244634e-18 -0.058456714755449626 -0.0975 -0.03374999999999998 -0.03375000000000003 -0.0975 -0.0584567147554496 -1.2399548841366951e-17 -0.0975 -0.0675 0.03375000000000001 -0.0975 -0.05845671475544961 0.05845671475544959 -0.0975 -0.03375000000000003 0.06 -0.065 0 0.05196152422706632 -0.065 0.029999999999999995 0.030000000000000006 -0.065 0.05196152422706631 3.673940397442059e-18 -0.065 0.06 -0.029999999999999985 -0.065 0.05196152422706632 -0.05196152422706632 -0.065 0.029999999999999995 -0.06 -0.065 7.347880794884118e-18 -0.051961524227066326 -0.065 -0.02999999999999998 -0.030000000000000027 -0.065 -0.051961524227066305 -1.1021821192326178e-17 -0.065 -0.06 0.030000000000000006 -0.065 -0.05196152422706631 0.0519615242270663 -0.065 -0.030000000000000027"/><mesh name="p_top_p2" vertex="0.06 -0.065 0 0.05196152422706632 -0.065 0.029999999999999995 0.030000000000000006 -0.065 0.05196152422706631 3.673940397442059e-18 -0.065 0.06 -0.029999999999999985 -0.065 0.05196152422706632 -0.05196152422706632 -0.065 0.029999999999999995 -0.06 -0.065 7.347880794884118e-18 -0.051961524227066326 -0.065 -0.02999999999999998 -0.030000000000000027 -0.065 -0.051961524227066305 -1.1021821192326178e-17 -0.065 -0.06 0.030000000000000006 -0.065 -0.05196152422706631 0.0519615242270663 -0.065 -0.030000000000000027 0.054000000000000006 -0.0325 0 0.0467653718043597 -0.0325 0.027 0.02700000000000001 -0.0325 0.04676537180435969 3.306546357697854e-18 -0.0325 0.054000000000000006 -0.026999999999999993 -0.0325 0.0467653718043597 -0.0467653718043597 -0.0325 0.027 -0.054000000000000006 -0.0325 6.613092715395708e-18 -0.046765371804359704 -0.0325 -0.02699999999999999 -0.027000000000000027 -0.0325 -0.04676537180435968 -9.919639073093562e-18 -0.0325 -0.054000000000000006 0.02700000000000001 -0.0325 -0.04676537180435969 0.046765371804359676 -0.0325 -0.027000000000000027"/><mesh name="p_top_p3" vertex="0.054000000000000006 -0.0325 0 0.0467653718043597 -0.0325 0.027 0.02700000000000001 -0.0325 0.04676537180435969 3.306546357697854e-18 -0.0325 0.054000000000000006 -0.026999999999999993 -0.0325 0.0467653718043597 -0.0467653718043597 -0.0325 0.027 -0.054000000000000006 -0.0325 6.613092715395708e-18 -0.046765371804359704 -0.0325 -0.02699999999999999 -0.027000000000000027 -0.0325 -0.04676537180435968 -9.919639073093562e-18 -0.0325 -0.054000000000000006 0.02700000000000001 -0.0325 -0.04676537180435969 0.046765371804359676 -0.0325 -0.027000000000000027 0.0475 0 0 0.04113620667976084 0 0.023749999999999997 0.023750000000000007 0 0.04113620667976083 2.908536147974964e-18 0 0.0475 -0.02374999999999999 0 0.04113620667976084 -0.04113620667976084 0 0.023749999999999997 -0.0475 0 5.817072295949928e-18 -0.041136206679760846 0 -0.023749999999999986 -0.02375000000000002 0 -0.041136206679760826 -8.72560844392489e-18 0 -0.0475 0.023750000000000007 0 -0.04113620667976083 0.041136206679760826 0 -0.02375000000000002"/><mesh name="p_top_p4" vertex="0.0475 0 0 0.04113620667976084 0 0.023749999999999997 0.023750000000000007 0 0.04113620667976083 2.908536147974964e-18 0 0.0475 -0.02374999999999999 0 0.04113620667976084 -0.04113620667976084 0 0.023749999999999997 -0.0475 0 5.817072295949928e-18 -0.041136206679760846 0 -0.023749999999999986 -0.02375000000000002 0 -0.041136206679760826 -8.72560844392489e-18 0 -0.0475 0.023750000000000007 0 -0.04113620667976083 0.041136206679760826 0 -0.02375000000000002 0.0424 0.0325 0 0.036719477120460205 0.0325 0.021199999999999997 0.021200000000000004 0.0325 0.0367194771204602 2.5962512141923888e-18 0.0325 0.0424 -0.02119999999999999 0.0325 0.036719477120460205 -0.036719477120460205 0.0325 0.021199999999999997 -0.0424 0.0325 5.1925024283847775e-18 -0.036719477120460205 0.0325 -0.02119999999999999 -0.021200000000000017 0.0325 -0.03671947712046019 -7.788753642577165e-18 0.0325 -0.0424 0.021200000000000004 0.0325 -0.0367194771204602 0.036719477120460184 0.0325 -0.021200000000000017"/><mesh name="p_top_p5" vertex="0.0424 0.0325 0 0.036719477120460205 0.0325 0.021199999999999997 0.021200000000000004 0.0325 0.0367194771204602 2.5962512141923888e-18 0.0325 0.0424 -0.02119999999999999 0.0325 0.036719477120460205 -0.036719477120460205 0.0325 0.021199999999999997 -0.0424 0.0325 5.1925024283847775e-18 -0.036719477120460205 0.0325 -0.02119999999999999 -0.021200000000000017 0.0325 -0.03671947712046019 -7.788753642577165e-18 0.0325 -0.0424 0.021200000000000004 0.0325 -0.0367194771204602 0.036719477120460184 0.0325 -0.021200000000000017 0.038900000000000004 0.065 0 0.03368838820721467 0.065 0.01945 0.019450000000000005 0.065 0.03368838820721466 2.3819380243416024e-18 0.065 0.038900000000000004 -0.019449999999999995 0.065 0.03368838820721467 -0.03368838820721467 0.065 0.01945 -0.038900000000000004 0.065 4.763876048683205e-18 -0.033688388207214676 0.065 -0.01944999999999999 -0.01945000000000002 0.065 -0.03368838820721466 -7.145814073024806e-18 0.065 -0.038900000000000004 0.019450000000000005 0.065 -0.03368838820721466 0.033688388207214655 0.065 -0.01945000000000002"/><mesh name="p_top_p6" vertex="0.038900000000000004 0.065 0 0.03368838820721467 0.065 0.01945 0.019450000000000005 0.065 0.03368838820721466 2.3819380243416024e-18 0.065 0.038900000000000004 -0.019449999999999995 0.065 0.03368838820721467 -0.03368838820721467 0.065 0.01945 -0.038900000000000004 0.065 4.763876048683205e-18 -0.033688388207214676 0.065 -0.01944999999999999 -0.01945000000000002 0.065 -0.03368838820721466 -7.145814073024806e-18 0.065 -0.038900000000000004 0.019450000000000005 0.065 -0.03368838820721466 0.033688388207214655 0.065 -0.01945000000000002 0.0364 0.0975 0 0.03152332469775357 0.0975 0.018199999999999997 0.018200000000000004 0.0975 0.03152332469775357 2.228857174448183e-18 0.0975 0.0364 -0.018199999999999994 0.0975 0.03152332469775357 -0.03152332469775357 0.0975 0.018199999999999997 -0.0364 0.0975 4.457714348896366e-18 -0.031523324697753576 0.0975 -0.01819999999999999 -0.018200000000000018 0.0975 -0.03152332469775356 -6.6865715233445485e-18 0.0975 -0.0364 0.018200000000000004 0.0975 -0.03152332469775357 0.03152332469775356 0.0975 -0.018200000000000018"/><mesh name="p_top_p7" vertex="0.0364 0.0975 0 0.03152332469775357 0.0975 0.018199999999999997 0.018200000000000004 0.0975 0.03152332469775357 2.228857174448183e-18 0.0975 0.0364 -0.018199999999999994 0.0975 0.03152332469775357 -0.03152332469775357 0.0975 0.018199999999999997 -0.0364 0.0975 4.457714348896366e-18 -0.031523324697753576 0.0975 -0.01819999999999999 -0.018200000000000018 0.0975 -0.03152332469775356 -6.6865715233445485e-18 0.0975 -0.0364 0.018200000000000004 0.0975 -0.03152332469775357 0.03152332469775356 0.0975 -0.018200000000000018 0.034 0.13 0 0.029444863728670917 0.13 0.016999999999999998 0.017000000000000005 0.13 0.029444863728670913 2.0818995585505005e-18 0.13 0.034 -0.016999999999999994 0.13 0.029444863728670917 -0.029444863728670917 0.13 0.016999999999999998 -0.034 0.13 4.163799117101001e-18 -0.02944486372867092 0.13 -0.01699999999999999 -0.017000000000000015 0.13 -0.02944486372867091 -6.2456986756515014e-18 0.13 -0.034 0.017000000000000005 0.13 -0.029444863728670913 0.029444863728670907 0.13 -0.017000000000000015"/><mesh name="p_bot_p0" vertex="0.047 -0.14 0 0.04070319397786862 -0.14 0.023499999999999997 0.023500000000000007 -0.14 0.04070319397786861 2.8779199779962802e-18 -0.14 0.047 -0.02349999999999999 -0.14 0.04070319397786862 -0.04070319397786862 -0.14 0.023499999999999997 -0.047 -0.14 5.7558399559925604e-18 -0.040703193977868625 -0.14 -0.023499999999999986 -0.02350000000000002 -0.14 -0.04070319397786861 -8.63375993398884e-18 -0.14 -0.047 0.023500000000000007 -0.14 -0.04070319397786861 0.040703193977868604 -0.14 -0.02350000000000002 0.0587 -0.105 0 0.05083569120214655 -0.105 0.029349999999999998 0.029350000000000008 -0.105 0.050835691202146545 3.5943383554974816e-18 -0.105 0.0587 -0.029349999999999987 -0.105 0.05083569120214655 -0.05083569120214655 -0.105 0.029349999999999998 -0.0587 -0.105 7.188676710994963e-18 -0.05083569120214656 -0.105 -0.029349999999999984 -0.02935000000000003 -0.105 -0.05083569120214654 -1.0783015066492444e-17 -0.105 -0.0587 0.029350000000000008 -0.105 -0.050835691202146545 0.05083569120214654 -0.105 -0.02935000000000003"/><mesh name="p_bot_p1" vertex="0.0587 -0.105 0 0.05083569120214655 -0.105 0.029349999999999998 0.029350000000000008 -0.105 0.050835691202146545 3.5943383554974816e-18 -0.105 0.0587 -0.029349999999999987 -0.105 0.05083569120214655 -0.05083569120214655 -0.105 0.029349999999999998 -0.0587 -0.105 7.188676710994963e-18 -0.05083569120214656 -0.105 -0.029349999999999984 -0.02935000000000003 -0.105 -0.05083569120214654 -1.0783015066492444e-17 -0.105 -0.0587 0.029350000000000008 -0.105 -0.050835691202146545 0.05083569120214654 -0.105 -0.02935000000000003 0.0689 -0.07 0 0.05966915032074783 -0.07 0.034449999999999995 0.03445000000000001 -0.07 0.05966915032074782 4.218908223062632e-18 -0.07 0.0689 -0.03444999999999999 -0.07 0.05966915032074783 -0.05966915032074783 -0.07 0.034449999999999995 -0.0689 -0.07 8.437816446125264e-18 -0.059669150320747835 -0.07 -0.03444999999999998 -0.03445000000000003 -0.07 -0.059669150320747814 -1.2656724669187894e-17 -0.07 -0.0689 0.03445000000000001 -0.07 -0.05966915032074782 0.05966915032074781 -0.07 -0.03445000000000003"/><mesh name="p_bot_p2" vertex="0.0689 -0.07 0 0.05966915032074783 -0.07 0.034449999999999995 0.03445000000000001 -0.07 0.05966915032074782 4.218908223062632e-18 -0.07 0.0689 -0.03444999999999999 -0.07 0.05966915032074783 -0.05966915032074783 -0.07 0.034449999999999995 -0.0689 -0.07 8.437816446125264e-18 -0.059669150320747835 -0.07 -0.03444999999999998 -0.03445000000000003 -0.07 -0.059669150320747814 -1.2656724669187894e-17 -0.07 -0.0689 0.03445000000000001 -0.07 -0.05966915032074782 0.05966915032074781 -0.07 -0.03445000000000003 0.0775 -0.035 0 0.067116968793294 -0.035 0.03874999999999999 0.03875000000000001 -0.035 0.06711696879329399 4.745506346695994e-18 -0.035 0.0775 -0.038749999999999986 -0.035 0.067116968793294 -0.067116968793294 -0.035 0.03874999999999999 -0.0775 -0.035 9.491012693391988e-18 -0.06711696879329401 -0.035 -0.03874999999999998 -0.038750000000000034 -0.035 -0.06711696879329399 -1.423651904008798e-17 -0.035 -0.0775 0.03875000000000001 -0.035 -0.06711696879329399 0.06711696879329397 -0.035 -0.038750000000000034"/><mesh name="p_bot_p3" vertex="0.0775 -0.035 0 0.067116968793294 -0.035 0.03874999999999999 0.03875000000000001 -0.035 0.06711696879329399 4.745506346695994e-18 -0.035 0.0775 -0.038749999999999986 -0.035 0.067116968793294 -0.067116968793294 -0.035 0.03874999999999999 -0.0775 -0.035 9.491012693391988e-18 -0.06711696879329401 -0.035 -0.03874999999999998 -0.038750000000000034 -0.035 -0.06711696879329399 -1.423651904008798e-17 -0.035 -0.0775 0.03875000000000001 -0.035 -0.06711696879329399 0.06711696879329397 -0.035 -0.038750000000000034 0.08449999999999999 0 0 0.07317914661978506 0 0.04224999999999999 0.04225 0 0.07317914661978506 5.174132726397567e-18 0 0.08449999999999999 -0.042249999999999975 0 0.07317914661978506 -0.07317914661978506 0 0.04224999999999999 -0.08449999999999999 0 1.0348265452795133e-17 -0.07317914661978507 0 -0.042249999999999975 -0.04225000000000003 0 -0.07317914661978504 -1.5522398179192698e-17 0 -0.08449999999999999 0.04225 0 -0.07317914661978506 0.07317914661978503 0 -0.04225000000000003"/><mesh name="p_bot_p4" vertex="0.08449999999999999 0 0 0.07317914661978506 0 0.04224999999999999 0.04225 0 0.07317914661978506 5.174132726397567e-18 0 0.08449999999999999 -0.042249999999999975 0 0.07317914661978506 -0.07317914661978506 0 0.04224999999999999 -0.08449999999999999 0 1.0348265452795133e-17 -0.07317914661978507 0 -0.042249999999999975 -0.04225000000000003 0 -0.07317914661978504 -1.5522398179192698e-17 0 -0.08449999999999999 0.04225 0 -0.07317914661978506 0.07317914661978503 0 -0.04225000000000003 0.08990000000000001 0.035 0 0.07785568380022105 0.035 0.04495 0.04495000000000001 0.035 0.07785568380022104 5.504787362167353e-18 0.035 0.08990000000000001 -0.04494999999999998 0.035 0.07785568380022105 -0.07785568380022105 0.035 0.04495 -0.08990000000000001 0.035 1.1009574724334706e-17 -0.07785568380022105 0.035 -0.044949999999999976 -0.044950000000000045 0.035 -0.07785568380022102 -1.6514362086502058e-17 0.035 -0.08990000000000001 0.04495000000000001 0.035 -0.07785568380022104 0.07785568380022102 0.035 -0.044950000000000045"/><mesh name="p_bot_p5" vertex="0.08990000000000001 0.035 0 0.07785568380022105 0.035 0.04495 0.04495000000000001 0.035 0.07785568380022104 5.504787362167353e-18 0.035 0.08990000000000001 -0.04494999999999998 0.035 0.07785568380022105 -0.07785568380022105 0.035 0.04495 -0.08990000000000001 0.035 1.1009574724334706e-17 -0.07785568380022105 0.035 -0.044949999999999976 -0.044950000000000045 0.035 -0.07785568380022102 -1.6514362086502058e-17 0.035 -0.08990000000000001 0.04495000000000001 0.035 -0.07785568380022104 0.07785568380022102 0.035 -0.044950000000000045 0.09390000000000001 0.07 0 0.08131978541535881 0.07 0.04695 0.04695000000000002 0.07 0.0813197854153588 5.749716721996824e-18 0.07 0.09390000000000001 -0.046949999999999985 0.07 0.08131978541535881 -0.08131978541535881 0.07 0.04695 -0.09390000000000001 0.07 1.1499433443993648e-17 -0.08131978541535881 0.07 -0.04694999999999998 -0.04695000000000005 0.07 -0.08131978541535878 -1.724915016599047e-17 0.07 -0.09390000000000001 0.04695000000000002 0.07 -0.0813197854153588 0.08131978541535877 0.07 -0.04695000000000005"/><mesh name="p_bot_p6" vertex="0.09390000000000001 0.07 0 0.08131978541535881 0.07 0.04695 0.04695000000000002 0.07 0.0813197854153588 5.749716721996824e-18 0.07 0.09390000000000001 -0.046949999999999985 0.07 0.08131978541535881 -0.08131978541535881 0.07 0.04695 -0.09390000000000001 0.07 1.1499433443993648e-17 -0.08131978541535881 0.07 -0.04694999999999998 -0.04695000000000005 0.07 -0.08131978541535878 -1.724915016599047e-17 0.07 -0.09390000000000001 0.04695000000000002 0.07 -0.0813197854153588 0.08131978541535877 0.07 -0.04695000000000005 0.0962 0.105 0 0.083311643844063 0.105 0.04809999999999999 0.04810000000000001 0.105 0.08331164384406299 5.890551103898768e-18 0.105 0.0962 -0.048099999999999976 0.105 0.083311643844063 -0.083311643844063 0.105 0.04809999999999999 -0.0962 0.105 1.1781102207797537e-17 -0.083311643844063 0.105 -0.04809999999999997 -0.04810000000000004 0.105 -0.08331164384406298 -1.7671653311696306e-17 0.105 -0.0962 0.04810000000000001 0.105 -0.08331164384406299 0.08331164384406296 0.105 -0.04810000000000004"/><mesh name="p_bot_p7" vertex="0.0962 0.105 0 0.083311643844063 0.105 0.04809999999999999 0.04810000000000001 0.105 0.08331164384406299 5.890551103898768e-18 0.105 0.0962 -0.048099999999999976 0.105 0.083311643844063 -0.083311643844063 0.105 0.04809999999999999 -0.0962 0.105 1.1781102207797537e-17 -0.083311643844063 0.105 -0.04809999999999997 -0.04810000000000004 0.105 -0.08331164384406298 -1.7671653311696306e-17 0.105 -0.0962 0.04810000000000001 0.105 -0.08331164384406299 0.08331164384406296 0.105 -0.04810000000000004 0.09699999999999999 0.14 0 0.08400446416709055 0.14 0.04849999999999999 0.04850000000000001 0.14 0.08400446416709054 5.939536975864662e-18 0.14 0.09699999999999999 -0.048499999999999974 0.14 0.08400446416709055 -0.08400446416709055 0.14 0.04849999999999999 -0.09699999999999999 0.14 1.1879073951729324e-17 -0.08400446416709055 0.14 -0.04849999999999997 -0.048500000000000036 0.14 -0.08400446416709052 -1.7818610927593987e-17 0.14 -0.09699999999999999 0.04850000000000001 0.14 -0.08400446416709054 0.08400446416709051 0.14 -0.048500000000000036"/></asset>
<size memory="64M"/>
<worldbody>
<body name="p_top" pos="0 0 0.5"><joint name="j_top" type="hinge" axis="0 1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="1.6" diaginertia="0.01010848422 0.004380603528 0.01010848422"/><geom name="p_top_p0" type="mesh" mesh="p_top_p0" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p1" type="mesh" mesh="p_top_p1" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p2" type="mesh" mesh="p_top_p2" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p3" type="mesh" mesh="p_top_p3" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p4" type="mesh" mesh="p_top_p4" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p5" type="mesh" mesh="p_top_p5" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p6" type="mesh" mesh="p_top_p6" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_top_p7" type="mesh" mesh="p_top_p7" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="p_bot" pos="0 0.06 0"><joint name="j_bot" type="hinge" axis="0 1 0" damping="0.05" frictionloss="0"/><inertial pos="0 0 0" mass="2.4" diaginertia="0.01938472266 0.01481889062 0.01938472266"/><geom name="p_bot_p0" type="mesh" mesh="p_bot_p0" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p1" type="mesh" mesh="p_bot_p1" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p2" type="mesh" mesh="p_bot_p2" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p3" type="mesh" mesh="p_bot_p3" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p4" type="mesh" mesh="p_bot_p4" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p5" type="mesh" mesh="p_bot_p5" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p6" type="mesh" mesh="p_bot_p6" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/><geom name="p_bot_p7" type="mesh" mesh="p_bot_p7" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/></body>
<body name="belt_l000" pos="-0.08051714286 0.015 0" quat="0.7323685615 0 0.6809084301 0">
<freejoint name="belt_root0"/><inertial pos="0.005855159835 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256758175e-7 3.356233219e-7"/><geom name="belt_l000_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l001" pos="0.01171031967 0 0" quat="0.9973529053 0 -0.07271301269 0"><joint name="belt_l001_s" type="slide" axis="0.9894256356 0 -0.1450410689" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l001_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158567 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757804e-7 3.356232848e-7"/><geom name="belt_l001_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l002" pos="0.01171031713 0 0" quat="0.9973521009 0 -0.07272404635 0"><joint name="belt_l002_s" type="slide" axis="0.9894224262 0 -0.1450629608" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l002_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158822 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757879e-7 3.356232923e-7"/><geom name="belt_l002_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l003" pos="0.01171031764 0 0" quat="0.9973526594 0 -0.07271638592 0"><joint name="belt_l003_s" type="slide" axis="0.9894246544 0 -0.1450477618" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l003_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855157892 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757607e-7 3.35623265e-7"/><geom name="belt_l003_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l004" pos="0.01171031578 0 0" quat="0.9973523468 0 -0.07272067308 0"><joint name="belt_l004_s" type="slide" axis="0.9894234074 0 -0.1450562679" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l004_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158428 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757764e-7 3.356232807e-7"/><geom name="belt_l004_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l005" pos="0.01171031686 0 0" quat="0.9973524135 0 -0.07271975917 0"><joint name="belt_l005_s" type="slide" axis="0.9894236733 0 -0.1450544546" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l005_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855157812 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757583e-7 3.356232627e-7"/><geom name="belt_l005_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l006" pos="0.01171031562 0 0" quat="0.9973525928 0 -0.07271729983 0"><joint name="belt_l006_s" type="slide" axis="0.9894243886 0 -0.145049575" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l006_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158654 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.25675783e-7 3.356232873e-7"/><geom name="belt_l006_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l007" pos="0.01171031731 0 0" quat="0.9973521675 0 -0.07272313243 0"><joint name="belt_l007_s" type="slide" axis="0.989422692 0 -0.1450611475" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l007_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158325 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757734e-7 3.356232777e-7"/><geom name="belt_l007_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l008" pos="0.01171031665 0 0" quat="0.9973528387 0 -0.07271392659 0"><joint name="belt_l008_s" type="slide" axis="0.9894253698 0 -0.1450428822" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l008_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159499 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256758077e-7 3.356233121e-7"/><geom name="belt_l008_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l009" pos="0.011710319 0 0" quat="0.9973519215 0 -0.07272650571 0"><joint name="belt_l009_s" type="slide" axis="0.9894217107 0 -0.1450678404" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l009_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159433 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256758058e-7 3.356233101e-7"/><geom name="belt_l009_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l010" pos="0.01171031887 0 0" quat="0.9973529053 0 -0.07271301271 0"><joint name="belt_l010_s" type="slide" axis="0.9894256356 0 -0.145041069" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l010_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158852 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757888e-7 3.356232931e-7"/><geom name="belt_l010_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l011" pos="0.0117103177 0 0" quat="0.9973520342 0 -0.07272496026 0"><joint name="belt_l011_s" type="slide" axis="0.9894221603 0 -0.1450647741" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l011_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159035 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757941e-7 3.356232985e-7"/><geom name="belt_l011_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l012" pos="0.01171031807 0 0" quat="0.997352726 0 -0.07271547202 0"><joint name="belt_l012_s" type="slide" axis="0.9894249203 0 -0.1450459485" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l012_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158016 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757643e-7 3.356232687e-7"/><geom name="belt_l012_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l013" pos="0.01171031603 0 0" quat="0.9973522802 0 -0.07272158699 0"><joint name="belt_l013_s" type="slide" axis="0.9894231416 0 -0.1450580812" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l013_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158474 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757777e-7 3.356232821e-7"/><geom name="belt_l013_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l014" pos="0.01171031695 0 0" quat="0.9973524801 0 -0.07271884526 0"><joint name="belt_l014_s" type="slide" axis="0.9894239391 0 -0.1450526413" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l014_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855157775 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757572e-7 3.356232616e-7"/><geom name="belt_l014_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l015" pos="0.04630460463 0.015 -0.06587018615" quat="0.9418346286 0 -0.3360766764 0">
<freejoint name="belt_root1"/><inertial pos="0.005855158532 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757794e-7 3.356232838e-7"/><geom name="belt_l015_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l016" pos="0.01171031706 0 0" quat="0.9973522341 0 -0.07272221852 0"><joint name="belt_l016_s" type="slide" axis="0.9894229579 0 -0.1450593342" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l016_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158128 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757676e-7 3.356232719e-7"/><geom name="belt_l016_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l017" pos="0.01171031626 0 0" quat="0.9973527721 0 -0.0727148405 0"><joint name="belt_l017_s" type="slide" axis="0.9894251039 0 -0.1450446955" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l017_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159209 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757992e-7 3.356233036e-7"/><geom name="belt_l017_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l018" pos="0.01171031842 0 0" quat="0.9973519882 0 -0.07272559179 0"><joint name="belt_l018_s" type="slide" axis="0.9894219766 0 -0.1450660271" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l018_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159074 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757953e-7 3.356232996e-7"/><geom name="belt_l018_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l019" pos="0.01171031815 0 0" quat="0.9973529053 0 -0.07271301271 0"><joint name="belt_l019_s" type="slide" axis="0.9894256356 0 -0.145041069" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l019_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.00585515918 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757984e-7 3.356233027e-7"/><geom name="belt_l019_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l020" pos="0.01171031836 0 0" quat="0.9973519676 0 -0.07272587418 0"><joint name="belt_l020_s" type="slide" axis="0.9894218945 0 -0.1450665874" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l020_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855159294 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256758017e-7 3.356233061e-7"/><geom name="belt_l020_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l021" pos="0.01171031859 0 0" quat="0.9973527927 0 -0.07271455812 0"><joint name="belt_l021_s" type="slide" axis="0.9894251861 0 -0.1450441352" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l021_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005855158184 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.256757692e-7 3.356232736e-7"/><geom name="belt_l021_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l022" pos="0.01171031637 0 0" quat="0.9992682914 0 -0.03824763776 0"><joint name="belt_l022_s" type="slide" axis="0.9970742364 0 -0.07643930327" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l022_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333327 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273047e-7 3.35774809e-7"/><geom name="belt_l022_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l023" pos="0.01172066665 0 0" quat="0.9999999996 0 -0.00002652691444 0"><joint name="belt_l023_s" type="slide" axis="0.9999999986 0 -0.00005305382886" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l023_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l023_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l024" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l024_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l024_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l024_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l025" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l025_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l025_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l025_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l026" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l026_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l026_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l026_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l027" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l027_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l027_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l027_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l028" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l028_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l028_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l028_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l029" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l029_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l029_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l029_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l030" pos="0.07430890621 0.015 0.09846906258" quat="0.683876797 0 -0.7295975099 0">
<freejoint name="belt_root2"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l030_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l031" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l031_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l031_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l031_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l032" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l032_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l032_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l032_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l033" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l033_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l033_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l033_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l034" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l034_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l034_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l034_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l035" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l035_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l035_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l035_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l036" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l036_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l036_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l036_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l037" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l037_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l037_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l037_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l038" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l038_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l038_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l038_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l039" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l039_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l039_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l039_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l040" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l040_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l040_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l040_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l041" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l041_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l041_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l041_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l042" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l042_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l042_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l042_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l043" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l043_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l043_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l043_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l044" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l044_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l044_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l044_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l045" pos="0.06294717485 0.015 0.2739115643" quat="0.683876797 0 -0.7295975099 0">
<freejoint name="belt_root3"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l045_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l046" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l046_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l046_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l046_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l047" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l047_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l047_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l047_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l048" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l048_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l048_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l048_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l049" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l049_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l049_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l049_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l050" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l050_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l050_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l050_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l051" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l051_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l051_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l051_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l052" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l052_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l052_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l052_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l053" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l053_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l053_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l053_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l054" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l054_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l054_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l054_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l055" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l055_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l055_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l055_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l056" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l056_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l056_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l056_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l057" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l057_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l057_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l057_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l058" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l058_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l058_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l058_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l059" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l059_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l059_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l059_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l060" pos="0.0515854435 0.015 0.4493540659" quat="0.683876797 0 -0.7295975099 0">
<freejoint name="belt_root4"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l060_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l061" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l061_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l061_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l061_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l062" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l062_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l062_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l062_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l063" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l063_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l063_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l063_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l064" pos="0.01172066747 0 0" quat="0.9999510399 0 -0.009895343337 0"><joint name="belt_l064_s" type="slide" axis="0.9998041644 0 -0.01978971772" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l064_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005857688945 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.257498567e-7 3.356973611e-7"/><geom name="belt_l064_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l065" pos="0.01171537789 0 0" quat="0.995009233 0 -0.09978289599 0"><joint name="belt_l065_s" type="slide" axis="0.9800867473 0 -0.1985698056" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l065_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.00584590723 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254052218e-7 3.353527262e-7"/><geom name="belt_l065_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l066" pos="0.01169181446 0 0" quat="0.9926193594 0 -0.1212716267 0"><joint name="belt_l066_s" type="slide" axis="0.9705863851 0 -0.2407531287" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l066_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845904635 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.25405146e-7 3.353526504e-7"/><geom name="belt_l066_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l067" pos="0.01169180927 0 0" quat="0.9926193593 0 -0.1212716268 0"><joint name="belt_l067_s" type="slide" axis="0.9705863851 0 -0.2407531289" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l067_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845905531 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254051722e-7 3.353526765e-7"/><geom name="belt_l067_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l068" pos="0.01169181106 0 0" quat="0.9926191954 0 -0.1212729687 0"><joint name="belt_l068_s" type="slide" axis="0.9705857341 0 -0.2407557533" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l068_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845907989 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.25405244e-7 3.353527484e-7"/><geom name="belt_l068_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l069" pos="0.01169181598 0 0" quat="0.9926189332 0 -0.1212751149 0"><joint name="belt_l069_s" type="slide" axis="0.970584693 0 -0.2407599503" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l069_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845907049 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254052165e-7 3.353527209e-7"/><geom name="belt_l069_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l070" pos="0.0116918141 0 0" quat="0.9926193594 0 -0.1212716267 0"><joint name="belt_l070_s" type="slide" axis="0.9705863851 0 -0.2407531287" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l070_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845904602 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.25405145e-7 3.353526494e-7"/><geom name="belt_l070_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l071" pos="0.0116918092 0 0" quat="0.9926193593 0 -0.1212716268 0"><joint name="belt_l071_s" type="slide" axis="0.9705863851 0 -0.2407531289" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l071_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845905646 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254051755e-7 3.353526799e-7"/><geom name="belt_l071_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l072" pos="0.01169181129 0 0" quat="0.9926191703 0 -0.1212731739 0"><joint name="belt_l072_s" type="slide" axis="0.9705856346 0 -0.2407561546" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l072_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845907959 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254052431e-7 3.353527475e-7"/><geom name="belt_l072_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l073" pos="0.01169181592 0 0" quat="0.9926189583 0 -0.1212749097 0"><joint name="belt_l073_s" type="slide" axis="0.9705847926 0 -0.240759549" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l073_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845906874 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254052114e-7 3.353527158e-7"/><geom name="belt_l073_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l074" pos="0.01169181375 0 0" quat="0.9926193594 0 -0.1212716267 0"><joint name="belt_l074_s" type="slide" axis="0.9705863851 0 -0.2407531288" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l074_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845904575 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254051442e-7 3.353526486e-7"/><geom name="belt_l074_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l075" pos="-0.04116178457 0.015 0.5250875892" quat="0.5417351162 0 0.8405492632 0">
<freejoint name="belt_root5"/><inertial pos="0.005845905768 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254051791e-7 3.353526835e-7"/><geom name="belt_l075_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l076" pos="0.01169181154 0 0" quat="0.9926208366 0 -0.1212595345 0"><joint name="belt_l076_s" type="slide" axis="0.9705922506 0 -0.2407294812" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l076_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005845927464 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.254058131e-7 3.353533175e-7"/><geom name="belt_l076_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l077" pos="0.01169185493 0 0" quat="0.9982597444 0 -0.0589701847 0"><joint name="belt_l077_s" type="slide" axis="0.9930450346 0 -0.117735123" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l077_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l077_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l078" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l078_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l078_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l078_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l079" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l079_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l079_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l079_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l080" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l080_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l080_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l080_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l081" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l081_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l081_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l081_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l082" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l082_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l082_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l082_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l083" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l083_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l083_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l083_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l084" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l084_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l084_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l084_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l085" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l085_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l085_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l085_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l086" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l086_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l086_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l086_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l087" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l087_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l087_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l087_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l088" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l088_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l088_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l088_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l089" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l089_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l089_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l089_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l090" pos="-0.05796187204 0.015 0.3508922612" quat="0.683876797 0 0.7295975099 0">
<freejoint name="belt_root6"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l090_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l091" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l091_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l091_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l091_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l092" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l092_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l092_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l092_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l093" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l093_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l093_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l093_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l094" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l094_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l094_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l094_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l095" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l095_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l095_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l095_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l096" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l096_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l096_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l096_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l097" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l097_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l097_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l097_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l098" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l098_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l098_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l098_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l099" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l099_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l099_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l099_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l100" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l100_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l100_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l100_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l101" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l101_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l101_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l101_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l102" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l102_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l102_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l102_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l103" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l103_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l103_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l103_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l104" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l104_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l104_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l104_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="belt_l105" pos="-0.06932360339 0.015 0.1754497595" quat="0.683876797 0 0.7295975099 0">
<freejoint name="belt_root7"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l105_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l106" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l106_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l106_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l106_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l107" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l107_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l107_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l107_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l108" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l108_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l108_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l108_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l109" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l109_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l109_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l109_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l110" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l110_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l110_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l110_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l111" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l111_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l111_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l111_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l112" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l112_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l112_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l112_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l113" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l113_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l113_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l113_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l114" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l114_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l114_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l114_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l115" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l115_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l115_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l115_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l116" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l116_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l116_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l116_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l117" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l117_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l117_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l117_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l118" pos="0.01172066747 0 0" quat="1 0 0 0"><joint name="belt_l118_s" type="slide" axis="1 0 0" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l118_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005860333735 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.258273166e-7 3.35774821e-7"/><geom name="belt_l118_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
<body name="belt_l119" pos="0.01172066747 0 0" quat="0.9999742113 0 -0.007181690347 0"><joint name="belt_l119_s" type="slide" axis="0.9998968466 0 -0.01436301028" stiffness="300000" springref="-0.0001" damping="2"/><joint name="belt_l119_h" type="hinge" axis="0 1 0" damping="0.02" armature="0.002"/><inertial pos="0.005859124764 0 0" mass="0.007498125156" diaginertia="2.89927506e-7 1.257919043e-7 3.357394087e-7"/><geom name="belt_l119_c" type="capsule" fromto="0 -0.006 0 0 0.006 0" size="0.004" contype="2" conaffinity="0" friction="0.6 0.005 0.0001" solref="0.006 1" solimp="0.9 0.95 0.001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="belt_pin0" body1="belt_l014" body2="belt_l015" anchor="0.01171031555 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin1" body1="belt_l029" body2="belt_l030" anchor="0.01172066747 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin2" body1="belt_l044" body2="belt_l045" anchor="0.01172066747 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin3" body1="belt_l059" body2="belt_l060" anchor="0.01172066747 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin4" body1="belt_l074" body2="belt_l075" anchor="0.01169180915 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin5" body1="belt_l089" body2="belt_l090" anchor="0.01172066747 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin6" body1="belt_l104" body2="belt_l105" anchor="0.01172066747 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/><connect name="belt_pin7" body1="belt_l119" body2="belt_l000" anchor="0.01171824953 0 0" solref="-3000000 -8" solimp="0.95 0.99 0.001"/></equality>

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