<mujoco model="22-different-arrangements-of-pulleys">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<size memory="64M"/>
<worldbody>
<geom name="beam_r0" type="capsule" fromto="0.425 0 0.91 0.425 0 0.785" size="0.0045" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_r1" type="capsule" fromto="0.407 0 0.788 0.443 0 0.788" size="0.0055" contype="0" conaffinity="0" group="1" mass="0"/>
<geom name="beam_b2" type="box" pos="0.2 0 0.84" size="0.38 0.016 0.014" contype="0" conaffinity="0" group="1" mass="0"/>
<body name="hand" pos="0.494 0 0.22" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="-0.02 0.08"/><inertial pos="-0.00004755755464 0 0.0281121129" mass="0.4" fullinertia="0.0004841081764 0.0004833945859 0.00005409182025 0 -0.000004819125163 0"/><geom name="hand_rod0" type="capsule" fromto="-0.011 0 0.011 0.011 0 -0.011" size="0.02" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="-0.001 0 0.036 -0.002 0 0.056" size="0.015" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod2" type="capsule" fromto="-0.002 0 0.056 0.004 0 0.095" size="0.012" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="eye1" pos="-0.07 0 0.8"></body>
<body name="eye2" pos="0.07 0 0.8"></body>
<body name="eye3" pos="0.21 0 0.8"></body>
<body name="block_1" pos="0 0 0.2"><joint name="j_b1" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.08 0.02" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.0002908475233 0 -0.07276135836" mass="0.3" fullinertia="0.0001839226145 0.0001878175412 0.00001349492673 0 -2.254830954e-7 0"/><body name="sheave_1" pos="0 0 0"><joint name="j_s1" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00156 0.002352 0.00156"/><geom name="sheave_1_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_1_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_1_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="block_2" pos="0.14 0 0.4"><joint name="j_b2" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.01 0.04" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.045 0 -0.038" mass="0.3" fullinertia="0.00002106183355 0.000080575 0.00006686316645 0 -0.0000285663199 0"/><body name="sheave_2" pos="0 0 0"><joint name="j_s2" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00156 0.002352 0.00156"/><geom name="sheave_2_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_2_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_2_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="block_3" pos="0.28 0 0.6"><joint name="j_b3" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.02 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="-0.045 0 -0.038" mass="0.3" fullinertia="0.00002106183355 0.000080575 0.00006686316645 0 -0.0000285663199 0"/><body name="sheave_3" pos="0 0 0"><joint name="j_s3" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.00156 0.002352 0.00156"/><geom name="sheave_3_rim" condim="3" type="capsule" fromto="0 -0.015 0 0 0.015 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_3_flangeL" type="cylinder" fromto="0 -0.015 0 0 -0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="sheave_3_flangeR" type="cylinder" fromto="0 0.015 0 0 0.0195 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
</body>
<body name="pulley_f" pos="0.425 0 0.74"><joint name="j_f" type="hinge" axis="0 1 0" damping="0.02" frictionloss="0"/><inertial pos="0 0 0" mass="1.2" diaginertia="0.0015724 0.002352 0.0015724"/><geom name="pulley_f_rim" condim="3" type="capsule" fromto="0 -0.016 0 0 0.016 0" size="0.07" contype="1" conaffinity="2" friction="0.3 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_f_flangeL" type="cylinder" fromto="0 -0.016 0 0 -0.0208 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="pulley_f_flangeR" type="cylinder" fromto="0 0.016 0 0 0.0208 0" size="0.075" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="load" pos="0 0 0.04"><joint name="j_load" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.06 0.06" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 0.0001214655471" mass="20" fullinertia="0.02738635399 0.05332190288 0.05918764698 0 0 0"/></body>
<body name="cord1_l000" pos="-0.07 0 0.786" quat="0.7046883269 0 0.709516992 0">
<freejoint name="cord1_root"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l000_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l001" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l001_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l001_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l002" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l002_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l002_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l003" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l003_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l003_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l004" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l004_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l004_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l005" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l005_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l005_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l006" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l006_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l006_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l007" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l007_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l007_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l008" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l008_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l008_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l008_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l009" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l009_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l009_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l009_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l010" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l010_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l010_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l010_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l011" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l011_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l011_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l011_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l012" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l012_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l012_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l012_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l013" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l013_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l013_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l013_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l014" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l014_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l014_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l014_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l015" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l015_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l015_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l015_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l016" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l016_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l016_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l016_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l017" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l017_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l017_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l017_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l018" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l018_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l018_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l018_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l019" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l019_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l019_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l019_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l020" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l020_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l020_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l020_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l021" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l021_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l021_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l021_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l022" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l022_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l022_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l022_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l023" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l023_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l023_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l023_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l024" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l024_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l024_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l024_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l025" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l025_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l025_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l025_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l026" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l026_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l026_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l026_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l027" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l027_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l027_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l027_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l028" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l028_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l028_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l028_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l029" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l029_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l029_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l029_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l030" pos="0.01932455754 0 0" quat="0.9994846514 0 -0.03210033749 0"><joint name="cord1_l030_s" type="slide" axis="0.9979391367 0 -0.06416758925" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l030_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009644329701 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.757030235e-8 4.757030235e-8"/><geom name="cord1_l030_c" type="capsule" fromto="0 0 0 0.0192886594 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l031" pos="0.0192886594 0 0" quat="0.9922283883 0 -0.1244300025 0"><joint name="cord1_l031_s" type="slide" axis="0.9690343489 0 -0.2469259618" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l031_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634842639 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748744853e-8 4.748744853e-8"/><geom name="cord1_l031_c" type="capsule" fromto="0 0 0 0.01926968528 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l032" pos="0.01926968528 0 0" quat="0.9914876952 0 -0.1302004237 0"><joint name="cord1_l032_s" type="slide" axis="0.9660956993 0 -0.258184236" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l032_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634846155 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748747921e-8 4.748747921e-8"/><geom name="cord1_l032_c" type="capsule" fromto="0 0 0 0.01926969231 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l033" pos="0.01926969231 0 0" quat="0.9914875483 0 -0.1302015422 0"><joint name="cord1_l033_s" type="slide" axis="0.9660951168 0 -0.2581864157" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l033_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634848153 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748749666e-8 4.748749666e-8"/><geom name="cord1_l033_c" type="capsule" fromto="0 0 0 0.01926969631 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l034" pos="0.01926969631 0 0" quat="0.9914875587 0 -0.1302014631 0"><joint name="cord1_l034_s" type="slide" axis="0.966095158 0 -0.2581862615" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l034_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634846002 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748747788e-8 4.748747788e-8"/><geom name="cord1_l034_c" type="capsule" fromto="0 0 0 0.019269692 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l035" pos="0.019269692 0 0" quat="0.9914876952 0 -0.1302004237 0"><joint name="cord1_l035_s" type="slide" axis="0.9660956993 0 -0.258184236" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l035_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634842536 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748744763e-8 4.748744763e-8"/><geom name="cord1_l035_c" type="capsule" fromto="0 0 0 0.01926968507 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l036" pos="0.01926968507 0 0" quat="0.9914876952 0 -0.1302004238 0"><joint name="cord1_l036_s" type="slide" axis="0.9660956993 0 -0.2581842362" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l036_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634840404 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748742902e-8 4.748742902e-8"/><geom name="cord1_l036_c" type="capsule" fromto="0 0 0 0.01926968081 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l037" pos="0.01926968081 0 0" quat="0.9914876951 0 -0.1302004239 0"><joint name="cord1_l037_s" type="slide" axis="0.9660956992 0 -0.2581842364" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l037_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634839607 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748742206e-8 4.748742206e-8"/><geom name="cord1_l037_c" type="capsule" fromto="0 0 0 0.01926967921 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l038" pos="0.01926967921 0 0" quat="0.9914876951 0 -0.1302004239 0"><joint name="cord1_l038_s" type="slide" axis="0.9660956992 0 -0.2581842364" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l038_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634840143 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748742674e-8 4.748742674e-8"/><geom name="cord1_l038_c" type="capsule" fromto="0 0 0 0.01926968029 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l039" pos="0.01926968029 0 0" quat="0.9914876951 0 -0.1302004238 0"><joint name="cord1_l039_s" type="slide" axis="0.9660956993 0 -0.2581842363" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l039_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634842015 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748744308e-8 4.748744308e-8"/><geom name="cord1_l039_c" type="capsule" fromto="0 0 0 0.01926968403 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l040" pos="0.01926968403 0 0" quat="0.9914876952 0 -0.1302004237 0"><joint name="cord1_l040_s" type="slide" axis="0.9660956993 0 -0.2581842361" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l040_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.00963484522 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748747106e-8 4.748747106e-8"/><geom name="cord1_l040_c" type="capsule" fromto="0 0 0 0.01926969044 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l041" pos="0.01926969044 0 0" quat="0.991487614 0 -0.1302010416 0"><joint name="cord1_l041_s" type="slide" axis="0.9660953775 0 -0.2581854401" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l041_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009634848184 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.748749693e-8 4.748749693e-8"/><geom name="cord1_l041_c" type="capsule" fromto="0 0 0 0.01926969637 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l042" pos="0.01926969637 0 0" quat="0.9938026487 0 -0.111158875 0"><joint name="cord1_l042_s" type="slide" axis="0.975287409 0 -0.2209399689" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l042_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009655360321 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.766673913e-8 4.766673913e-8"/><geom name="cord1_l042_c" type="capsule" fromto="0 0 0 0.01931072064 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l043" pos="0.01931072064 0 0" quat="0.9999066187 0 -0.01366579484 0"><joint name="cord1_l043_s" type="slide" axis="0.9996264921 0 -0.02732903743" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l043_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l043_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l044" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l044_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l044_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l044_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l045" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l045_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l045_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l045_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l046" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l046_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l046_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l046_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l047" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l047_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l047_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l047_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l048" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l048_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l048_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l048_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord1_l049" pos="0.01932455754 0 0" quat="1 0 0 0"><joint name="cord1_l049_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000525" damping="3000"/><joint name="cord1_l049_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009662278768 0 0" mass="0.001358982006" diaginertia="1.087185605e-8 4.77272809e-8 4.77272809e-8"/><geom name="cord1_l049_c" type="capsule" fromto="0 0 0 0.01932455754 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="cord2_l000" pos="0.07 0 0.786" quat="0.7034300072 0 0.7107645355 0">
<freejoint name="cord2_root"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l000_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l001" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l001_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l001_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l002" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l002_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l002_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l003" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l003_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l003_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l004" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l004_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l004_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l005" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l005_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l005_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l006" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l006_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l006_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l007" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l007_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l007_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l008" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l008_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l008_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l008_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l009" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l009_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l009_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l009_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l010" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l010_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l010_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l010_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l011" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l011_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l011_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l011_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l012" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l012_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l012_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l012_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l013" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l013_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l013_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l013_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l014" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l014_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l014_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l014_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l015" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l015_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l015_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l015_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l016" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l016_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l016_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l016_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l017" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l017_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l017_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l017_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l018" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l018_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l018_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l018_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l019" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l019_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l019_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l019_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l020" pos="0.01915587407 0 0" quat="0.9986953216 0 -0.05106520052 0"><joint name="cord2_l020_s" type="slide" axis="0.9947846906 0 -0.1019971537" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l020_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009552926346 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.635932857e-8 4.635932857e-8"/><geom name="cord2_l020_c" type="capsule" fromto="0 0 0 0.01910585269 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l021" pos="0.01910585269 0 0" quat="0.9917383428 0 -0.1282772754 0"><joint name="cord2_l021_s" type="slide" axis="0.9670898812 0 -0.2544349851" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l021_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551214393 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634464502e-8 4.634464502e-8"/><geom name="cord2_l021_c" type="capsule" fromto="0 0 0 0.01910242879 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l022" pos="0.01910242879 0 0" quat="0.9916358794 0 -0.1290669699 0"><joint name="cord2_l022_s" type="slide" axis="0.9666834346 0 -0.2559748763" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l022_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551213579 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634463804e-8 4.634463804e-8"/><geom name="cord2_l022_c" type="capsule" fromto="0 0 0 0.01910242716 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l023" pos="0.01910242716 0 0" quat="0.9916350081 0 -0.1290736636 0"><joint name="cord2_l023_s" type="slide" axis="0.9666799787 0 -0.255987927" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l023_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551213893 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634464073e-8 4.634464073e-8"/><geom name="cord2_l023_c" type="capsule" fromto="0 0 0 0.01910242779 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l024" pos="0.01910242779 0 0" quat="0.9916357088 0 -0.1290682805 0"><joint name="cord2_l024_s" type="slide" axis="0.9666827579 0 -0.2559774316" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l024_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.00955121217 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634462596e-8 4.634462596e-8"/><geom name="cord2_l024_c" type="capsule" fromto="0 0 0 0.01910242434 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l025" pos="0.01910242434 0 0" quat="0.9916352539 0 -0.1290717757 0"><joint name="cord2_l025_s" type="slide" axis="0.9666809535 0 -0.255984246" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l025_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551212956 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.63446327e-8 4.63446327e-8"/><geom name="cord2_l025_c" type="capsule" fromto="0 0 0 0.01910242591 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l026" pos="0.01910242591 0 0" quat="0.9916354631 0 -0.1290701684 0"><joint name="cord2_l026_s" type="slide" axis="0.9666817832 0 -0.2559811125" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l026_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551211749 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634462235e-8 4.634462235e-8"/><geom name="cord2_l026_c" type="capsule" fromto="0 0 0 0.0191024235 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l027" pos="0.0191024235 0 0" quat="0.9916354996 0 -0.1290698877 0"><joint name="cord2_l027_s" type="slide" axis="0.9666819282 0 -0.2559805651" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l027_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551213032 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634463335e-8 4.634463335e-8"/><geom name="cord2_l027_c" type="capsule" fromto="0 0 0 0.01910242606 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l028" pos="0.01910242606 0 0" quat="0.9916352173 0 -0.1290720564 0"><joint name="cord2_l028_s" type="slide" axis="0.9666808085 0 -0.2559847934" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l028_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551212317 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634462722e-8 4.634462722e-8"/><geom name="cord2_l028_c" type="capsule" fromto="0 0 0 0.01910242463 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l029" pos="0.01910242463 0 0" quat="0.9916357453 0 -0.1290679997 0"><joint name="cord2_l029_s" type="slide" axis="0.9666829029 0 -0.2559768842" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l029_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551214119 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634464267e-8 4.634464267e-8"/><geom name="cord2_l029_c" type="capsule" fromto="0 0 0 0.01910242824 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l030" pos="0.01910242824 0 0" quat="0.9916349716 0 -0.1290739444 0"><joint name="cord2_l030_s" type="slide" axis="0.9666798338 0 -0.2559884744" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l030_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551213873 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.634464056e-8 4.634464056e-8"/><geom name="cord2_l030_c" type="capsule" fromto="0 0 0 0.01910242775 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l031" pos="0.01910242775 0 0" quat="0.9916358794 0 -0.1290669699 0"><joint name="cord2_l031_s" type="slide" axis="0.9666834346 0 -0.2559748763" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l031_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009551214064 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.63446422e-8 4.63446422e-8"/><geom name="cord2_l031_c" type="capsule" fromto="0 0 0 0.01910242813 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l032" pos="0.01910242813 0 0" quat="0.9944432136 0 -0.1052743793 0"><joint name="cord2_l032_s" type="slide" axis="0.9778346101 0 -0.2093787841" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l032_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009573406508 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.653519252e-8 4.653519252e-8"/><geom name="cord2_l032_c" type="capsule" fromto="0 0 0 0.01914681302 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l033" pos="0.01914681302 0 0" quat="0.9999510053 0 -0.009898836972 0"><joint name="cord2_l033_s" type="slide" axis="0.9998040261 0 -0.01979670396" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l033_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l033_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l034" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l034_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l034_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l034_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l035" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l035_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l035_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l035_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l036" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l036_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l036_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l036_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l037" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l037_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l037_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l037_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l038" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l038_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l038_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l038_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord2_l039" pos="0.01915587407 0 0" quat="1 0 0 0"><joint name="cord2_l039_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.0003" damping="3000"/><joint name="cord2_l039_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009577937033 0 0" mass="0.001346892682" diaginertia="1.077514146e-8 4.657414719e-8 4.657414719e-8"/><geom name="cord2_l039_c" type="capsule" fromto="0 0 0 0.01915587407 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
<body name="cord3_l000" pos="0.21 0 0.786" quat="0.6994307956 0 0.7147003303 0">
<freejoint name="cord3_root"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l000_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l001" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l001_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l001_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l001_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l002" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l002_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l002_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l002_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l003" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l003_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l003_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l003_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l004" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l004_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l004_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l004_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l005" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l005_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l005_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l005_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l006" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l006_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l006_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l006_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l007" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l007_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l007_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l007_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l008" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l008_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l008_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l008_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l009" pos="0.019742326 0 0" quat="0.9995848607 0 -0.02881156362 0"><joint name="cord3_l009_s" type="slide" axis="0.9983397876 0 -0.05759920563" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l009_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009854306293 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.047360626e-8 5.047360626e-8"/><geom name="cord3_l009_c" type="capsule" fromto="0 0 0 0.01970861259 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l010" pos="0.01970861259 0 0" quat="0.9921262041 0 -0.1252421463 0"><joint name="cord3_l010_s" type="slide" axis="0.9686288096 0 -0.2485120303" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l010_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.00984191009 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.03606574e-8 5.03606574e-8"/><geom name="cord3_l010_c" type="capsule" fromto="0 0 0 0.01968382018 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l011" pos="0.01968382018 0 0" quat="0.9911161885 0 -0.1329988753 0"><joint name="cord3_l011_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l011_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841909288 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.03606501e-8 5.03606501e-8"/><geom name="cord3_l011_c" type="capsule" fromto="0 0 0 0.01968381858 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l012" pos="0.01968381858 0 0" quat="0.9911161885 0 -0.1329988753 0"><joint name="cord3_l012_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l012_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841908597 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036064381e-8 5.036064381e-8"/><geom name="cord3_l012_c" type="capsule" fromto="0 0 0 0.01968381719 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l013" pos="0.01968381719 0 0" quat="0.9911161885 0 -0.1329988753 0"><joint name="cord3_l013_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l013_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841908016 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036063852e-8 5.036063852e-8"/><geom name="cord3_l013_c" type="capsule" fromto="0 0 0 0.01968381603 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l014" pos="0.01968381603 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l014_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l014_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841907546 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036063424e-8 5.036063424e-8"/><geom name="cord3_l014_c" type="capsule" fromto="0 0 0 0.01968381509 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l015" pos="0.01968381509 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l015_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l015_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841907186 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036063096e-8 5.036063096e-8"/><geom name="cord3_l015_c" type="capsule" fromto="0 0 0 0.01968381437 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l016" pos="0.01968381437 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l016_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l016_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841906937 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036062869e-8 5.036062869e-8"/><geom name="cord3_l016_c" type="capsule" fromto="0 0 0 0.01968381387 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l017" pos="0.01968381387 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l017_s" type="slide" axis="0.9646225983 0 -0.2636346769" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l017_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841906798 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036062743e-8 5.036062743e-8"/><geom name="cord3_l017_c" type="capsule" fromto="0 0 0 0.0196838136 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l018" pos="0.0196838136 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l018_s" type="slide" axis="0.9646225983 0 -0.2636346769" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l018_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.00984190677 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036062717e-8 5.036062717e-8"/><geom name="cord3_l018_c" type="capsule" fromto="0 0 0 0.01968381354 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l019" pos="0.01968381354 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l019_s" type="slide" axis="0.9646225983 0 -0.2636346769" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l019_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841906852 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036062792e-8 5.036062792e-8"/><geom name="cord3_l019_c" type="capsule" fromto="0 0 0 0.0196838137 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l020" pos="0.0196838137 0 0" quat="0.9911161885 0 -0.1329988754 0"><joint name="cord3_l020_s" type="slide" axis="0.9646225983 0 -0.2636346768" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l020_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841907044 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036062968e-8 5.036062968e-8"/><geom name="cord3_l020_c" type="capsule" fromto="0 0 0 0.01968381409 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l021" pos="0.01968381409 0 0" quat="0.9951168805 0 -0.09870356684 0"><joint name="cord3_l021_s" type="slide" axis="0.9805152118 0 -0.1964431711" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l021_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009869121416 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.060878175e-8 5.060878175e-8"/><geom name="cord3_l021_c" type="capsule" fromto="0 0 0 0.01973824283 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l022" pos="0.01973824283 0 0" quat="0.9999862923 0 -0.005235947381 0"><joint name="cord3_l022_s" type="slide" axis="0.9999451697 0 -0.01047175122" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l022_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l022_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l023" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l023_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l023_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l023_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l024" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l024_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l024_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l024_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l025" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l025_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l025_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l025_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l026" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l026_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l026_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l026_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l027" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l027_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l027_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l027_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l028" pos="0.019742326 0 0" quat="0.9991381065 0 0.04150956682 0"><joint name="cord3_l028_s" type="slide" axis="0.9965539117 0 0.08294757999" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l028_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009847693647 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.041333699e-8 5.041333699e-8"/><geom name="cord3_l028_c" type="capsule" fromto="0 0 0 0.01969538729 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l029" pos="0.01969538729 0 0" quat="0.9915059083 0 0.1300616538 0"><joint name="cord3_l029_s" type="slide" axis="0.9661679324 0 0.2579137963" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l029_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.00984190808 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036063911e-8 5.036063911e-8"/><geom name="cord3_l029_c" type="capsule" fromto="0 0 0 0.01968381616 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l030" pos="0.01968381616 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l030_s" type="slide" axis="0.9646225897 0 0.2636347085" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l030_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841908345 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036064152e-8 5.036064152e-8"/><geom name="cord3_l030_c" type="capsule" fromto="0 0 0 0.01968381669 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l031" pos="0.01968381669 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l031_s" type="slide" axis="0.9646225897 0 0.2636347085" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l031_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841908634 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036064415e-8 5.036064415e-8"/><geom name="cord3_l031_c" type="capsule" fromto="0 0 0 0.01968381727 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l032" pos="0.01968381727 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l032_s" type="slide" axis="0.9646225897 0 0.2636347085" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l032_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841908946 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036064699e-8 5.036064699e-8"/><geom name="cord3_l032_c" type="capsule" fromto="0 0 0 0.01968381789 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l033" pos="0.01968381789 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l033_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l033_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841909283 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036065006e-8 5.036065006e-8"/><geom name="cord3_l033_c" type="capsule" fromto="0 0 0 0.01968381857 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l034" pos="0.01968381857 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l034_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l034_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841909643 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036065334e-8 5.036065334e-8"/><geom name="cord3_l034_c" type="capsule" fromto="0 0 0 0.01968381929 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l035" pos="0.01968381929 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l035_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l035_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841910028 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036065684e-8 5.036065684e-8"/><geom name="cord3_l035_c" type="capsule" fromto="0 0 0 0.01968382006 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l036" pos="0.01968382006 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l036_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l036_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841910436 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036066056e-8 5.036066056e-8"/><geom name="cord3_l036_c" type="capsule" fromto="0 0 0 0.01968382087 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l037" pos="0.01968382087 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l037_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l037_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841910869 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.03606645e-8 5.03606645e-8"/><geom name="cord3_l037_c" type="capsule" fromto="0 0 0 0.01968382174 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l038" pos="0.01968382174 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l038_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l038_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841911325 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036066866e-8 5.036066866e-8"/><geom name="cord3_l038_c" type="capsule" fromto="0 0 0 0.01968382265 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l039" pos="0.01968382265 0 0" quat="0.9911161863 0 0.1329988916 0"><joint name="cord3_l039_s" type="slide" axis="0.9646225897 0 0.2636347084" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l039_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009841911806 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.036067303e-8 5.036067303e-8"/><geom name="cord3_l039_c" type="capsule" fromto="0 0 0 0.01968382361 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l040" pos="0.01968382361 0 0" quat="0.9968009619 0 0.07992397831 0"><joint name="cord3_l040_s" type="slide" axis="0.9872243154 0 0.1593365969" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l040_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871036789 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062627274e-8 5.062627274e-8"/><geom name="cord3_l040_c" type="capsule" fromto="0 0 0 0.01974207358 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l041" pos="0.01974207358 0 0" quat="0.9999997324 0 0.0007316126222 0"><joint name="cord3_l041_s" type="slide" axis="0.9999989295 0 0.001463224853" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l041_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l041_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l042" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l042_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l042_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l042_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l043" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l043_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l043_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l043_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l044" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l044_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l044_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l044_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l045" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l045_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l045_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l045_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l046" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l046_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l046_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l046_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l047" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l047_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l047_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l047_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l048" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l048_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l048_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l048_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l049" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l049_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l049_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l049_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l050" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l050_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l050_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l050_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l051" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l051_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l051_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l051_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l052" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l052_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l052_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l052_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l053" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l053_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l053_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l053_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l054" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l054_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l054_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l054_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l055" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l055_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l055_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l055_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l056" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l056_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l056_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l056_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l057" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l057_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l057_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l057_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l058" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l058_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l058_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l058_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l059" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l059_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l059_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l059_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l060" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l060_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l060_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l060_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l061" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l061_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l061_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l061_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l062" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l062_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l062_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l062_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l063" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l063_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l063_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l063_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="cord3_l064" pos="0.019742326 0 0" quat="1 0 0 0"><joint name="cord3_l064_s" type="slide" axis="1 0 0" stiffness="200000" springref="-0.000187" damping="3000"/><joint name="cord3_l064_h" type="hinge" axis="0 1 0" damping="0.05" armature="0.00002"/><inertial pos="0.009871162998 0 0" mass="0.001387814985" diaginertia="1.110251988e-8 5.062742538e-8 5.062742538e-8"/><geom name="cord3_l064_c" type="capsule" fromto="0 0 0 0.019742326 0 0" size="0.004" contype="2" conaffinity="0" friction="0.5 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
</body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body></body>
</worldbody>
<equality><connect name="hook" body1="block_1" body2="load" anchor="0 0 -0.106" solref="0.002 1" solimp="0.95 0.99 0.001"/><connect name="cord1_eyeA" body1="cord1_l000" body2="eye1" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord1_eyeB" body1="cord1_l049" body2="block_2" anchor="0.01932455754 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord2_eyeA" body1="cord2_l000" body2="eye2" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord2_eyeB" body1="cord2_l039" body2="block_3" anchor="0.01915587407 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord3_eyeA" body1="cord3_l000" body2="eye3" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="cord3_eyeB" body1="cord3_l064" body2="hand" anchor="0.019742326 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="block_1" body2="load"/><exclude body1="cord1_l000" body2="eye1"/><exclude body1="cord1_l049" body2="block_2"/><exclude body1="cord2_l000" body2="eye2"/><exclude body1="cord2_l039" body2="block_3"/><exclude body1="cord3_l000" body2="eye3"/><exclude body1="cord3_l064" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-45 45"/></actuator>
</mujoco>
