<mujoco model="320-endless-chain-maintaining-power">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0001" integrator="implicitfast" iterations="30" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
<asset><mesh name="ratchet_h0" vertex="0.05 -0.021 0 0.05 -0.013 0 0.043301 -0.021 0.025 0.043301 -0.013 0.025 0.066 -0.021 0 0.066 -0.013 0"/><mesh name="ratchet_h1" vertex="0.043301 -0.021 0.025 0.043301 -0.013 0.025 0.025 -0.021 0.043301 0.025 -0.013 0.043301 0.057158 -0.021 0.033 0.057158 -0.013 0.033"/><mesh name="ratchet_h2" vertex="0.025 -0.021 0.043301 0.025 -0.013 0.043301 0 -0.021 0.05 0 -0.013 0.05 0.033 -0.021 0.057158 0.033 -0.013 0.057158"/><mesh name="ratchet_h3" vertex="0 -0.021 0.05 0 -0.013 0.05 -0.025 -0.021 0.043301 -0.025 -0.013 0.043301 0 -0.021 0.066 0 -0.013 0.066"/><mesh name="ratchet_h4" vertex="-0.025 -0.021 0.043301 -0.025 -0.013 0.043301 -0.043301 -0.021 0.025 -0.043301 -0.013 0.025 -0.033 -0.021 0.057158 -0.033 -0.013 0.057158"/><mesh name="ratchet_h5" vertex="-0.043301 -0.021 0.025 -0.043301 -0.013 0.025 -0.05 -0.021 0 -0.05 -0.013 0 -0.057158 -0.021 0.033 -0.057158 -0.013 0.033"/><mesh name="ratchet_h6" vertex="-0.05 -0.021 0 -0.05 -0.013 0 -0.043301 -0.021 -0.025 -0.043301 -0.013 -0.025 -0.066 -0.021 0 -0.066 -0.013 0"/><mesh name="ratchet_h7" vertex="-0.043301 -0.021 -0.025 -0.043301 -0.013 -0.025 -0.025 -0.021 -0.043301 -0.025 -0.013 -0.043301 -0.057158 -0.021 -0.033 -0.057158 -0.013 -0.033"/><mesh name="ratchet_h8" vertex="-0.025 -0.021 -0.043301 -0.025 -0.013 -0.043301 0 -0.021 -0.05 0 -0.013 -0.05 -0.033 -0.021 -0.057158 -0.033 -0.013 -0.057158"/><mesh name="ratchet_h9" vertex="0 -0.021 -0.05 0 -0.013 -0.05 0.025 -0.021 -0.043301 0.025 -0.013 -0.043301 0 -0.021 -0.066 0 -0.013 -0.066"/><mesh name="ratchet_h10" vertex="0.025 -0.021 -0.043301 0.025 -0.013 -0.043301 0.043301 -0.021 -0.025 0.043301 -0.013 -0.025 0.033 -0.021 -0.057158 0.033 -0.013 -0.057158"/><mesh name="ratchet_h11" vertex="0.043301 -0.021 -0.025 0.043301 -0.013 -0.025 0.05 -0.021 0 0.05 -0.013 0 0.057158 -0.021 -0.033 0.057158 -0.013 -0.033"/><mesh name="click_h0" vertex="-0.003328 -0.02 0.001081 -0.003328 -0.014 0.001081 -0.016283 -0.02 -0.047283 -0.016283 -0.014 -0.047283 -0.014618 -0.02 -0.047824 -0.014618 -0.014 -0.047824 0.003329 -0.02 -0.001082 0.003329 -0.014 -0.001082"/></asset>
<size memory="64M"/>
<worldbody>
<body name="hand" pos="-0.126984 0 -0.09" quat="1 0 0 0"><joint name="j_hand" type="slide" axis="0.2545 0 -0.9671" damping="0" frictionloss="0" range="-0.02 0.3"/><inertial pos="-0.01336070785 0 -0.009869397289" mass="0.3" fullinertia="0.00003235822395 0.00009100825366 0.00007061528936 0 -0.0000332109244 0"/><geom name="hand_rod0" type="capsule" fromto="-0.002036 0 0.007737 0.002036 0 -0.007737" size="0.011" contype="0" conaffinity="0" group="1" mass="0"/><geom name="hand_rod1" type="capsule" fromto="0.002036 0 -0.007737 -0.045 0 -0.024" size="0.008" contype="0" conaffinity="0" group="1" mass="0"/></body>
<body name="frame" pos="0 0 0"></body>
<body name="parbor" pos="-0.1 0 0" quat="1 0 0 0"><joint name="j_p" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" fullinertia="0.00032375 0.000486 0.00032375 0 0 0"/><body name="p_w" pos="0 0 0" quat="1 0 0 0"><geom name="p_w_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.045" 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="p_w_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.049" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="p_w_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.049" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="ratchet" pos="0 0 0"><geom name="ratchet_h0" type="mesh" mesh="ratchet_h0" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h1" type="mesh" mesh="ratchet_h1" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h2" type="mesh" mesh="ratchet_h2" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h3" type="mesh" mesh="ratchet_h3" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h4" type="mesh" mesh="ratchet_h4" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h5" type="mesh" mesh="ratchet_h5" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h6" type="mesh" mesh="ratchet_h6" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h7" type="mesh" mesh="ratchet_h7" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h8" type="mesh" mesh="ratchet_h8" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h9" type="mesh" mesh="ratchet_h9" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h10" type="mesh" mesh="ratchet_h10" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/><geom name="ratchet_h11" type="mesh" mesh="ratchet_h11" contype="8" conaffinity="16" condim="3" friction="0.15 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/></body>
</body>
<body name="click" pos="-0.108384 0 0.094331"><joint name="j_click" type="hinge" axis="0 -1 0" damping="0.0005" frictionloss="0" range="-0.6 0" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="0.3" springref="0.3"/><inertial pos="-0.004234357312 -0.017 -0.01303332981" mass="0.0149427135" fullinertia="0.000002958309094 0.000003282986793 4.1433398e-7 0 -9.241097679e-7 0"/><geom name="click_h0" type="mesh" mesh="click_h0" contype="16" conaffinity="8" condim="3" friction="0.1 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="2" mass="0"/></body>
<body name="P" pos="0.1 0 0"><joint name="j_P" type="hinge" axis="0 -1 0" damping="8" frictionloss="0"/><inertial pos="0 0 0" mass="0.6" diaginertia="0.00032375 0.000486 0.00032375"/><geom name="P_rim" condim="3" type="capsule" fromto="0 -0.01 0 0 0.01 0" size="0.045" 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="P_flangeL" type="cylinder" fromto="0 -0.01 0 0 -0.013 0" size="0.049" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="P_flangeR" type="cylinder" fromto="0 0.01 0 0 0.013 0" size="0.049" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="Wblock" pos="0 0 -0.14"><joint name="j_W" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.12 0.09" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.0295" mass="0.3" fullinertia="0.00008854375 0.00008854375 0.0000030375 0 0 0"/><body name="Wsheave" pos="0 0 0"><joint name="j_Ws" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.3" diaginertia="0.000173775 0.00026508 0.000173775"/><geom name="Wsheave_rim" condim="3" type="capsule" fromto="0 -0.009 0 0 0.009 0" size="0.047" 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="Wsheave_flangeL" type="cylinder" fromto="0 -0.009 0 0 -0.0117 0" size="0.051" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="Wsheave_flangeR" type="cylinder" fromto="0 0.009 0 0 0.0117 0" size="0.051" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="Wbag" pos="0 0 -0.079"><inertial pos="0 0 0" mass="4" diaginertia="0.00202 0.002053333333 0.00202"/><geom name="Wbag_g" type="box" size="0.024 0.024 0.026" contype="0" conaffinity="0" group="2" mass="0"/></body>
</body>
<body name="sblock" pos="0 0 -0.38"><joint name="j_s" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.14 0.12" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0 0 -0.0265" mass="0.05" fullinertia="0.00001181666667 0.00001181666667 2.25e-7 0 0 0"/><body name="ssheave" pos="0 0 0"><joint name="j_ss" type="hinge" axis="0 -1 0" damping="0.002" frictionloss="0"/><inertial pos="0 0 0" mass="0.1" diaginertia="0.00005275833333 0.000081 0.00005275833333"/><geom name="ssheave_rim" condim="3" type="capsule" fromto="0 -0.008 0 0 0.008 0" size="0.045" 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="ssheave_flangeL" type="cylinder" fromto="0 -0.008 0 0 -0.0104 0" size="0.0485" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/><geom name="ssheave_flangeR" type="cylinder" fromto="0 0.008 0 0 0.0104 0" size="0.0485" contype="1" conaffinity="2" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/></body>
<body name="sbag" pos="0 0 -0.065"><inertial pos="0 0 0" mass="0.5" diaginertia="0.000063125 0.00006416666667 0.000063125"/><geom name="sbag_g" type="box" size="0.012 0.012 0.013" contype="0" conaffinity="0" group="2" mass="0"/></body>
</body>
<body name="chain_l000" pos="-0.126984 0 -0.09" quat="0.6105349833 0 -0.7919892892 0">
<freejoint name="chain_root"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l000_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l001" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l001_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l001_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l001_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l002" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l002_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l002_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l002_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l003" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l003_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l003_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l003_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l004" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l004_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l004_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l004_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l005" pos="0.01402517549 0 0" quat="0.9999833679 0 0.00576749525 0"><joint name="chain_l005_s" type="slide" axis="0.999933472 0 0.01153479865" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l005_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007010862494 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119528346e-7 1.119528346e-7"/><geom name="chain_l005_c" type="capsule" fromto="0 0 0 0.01402172499 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l006" pos="0.01402172499 0 0" quat="0.9943429773 0 0.1062169641 0"><joint name="chain_l006_s" type="slide" axis="0.9774359131 0 0.2112321846" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l006_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669998 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840567e-7 1.113840567e-7"/><geom name="chain_l006_c" type="capsule" fromto="0 0 0 0.01397734 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l007" pos="0.01397734 0 0" quat="0.9897766272 0 0.1426261838 0"><joint name="chain_l007_s" type="slide" axis="0.9593155434 0 0.2823361263" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l007_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672571 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841226e-7 1.113841226e-7"/><geom name="chain_l007_c" type="capsule" fromto="0 0 0 0.01397734514 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l008" pos="0.01397734514 0 0" quat="0.9897763876 0 0.142627846 0"><joint name="chain_l008_s" type="slide" axis="0.9593145951 0 0.2823393484" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l008_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671299 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.1138409e-7 1.1138409e-7"/><geom name="chain_l008_c" type="capsule" fromto="0 0 0 0.0139773426 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l009" pos="0.0139773426 0 0" quat="0.9897768641 0 0.1426245394 0"><joint name="chain_l009_s" type="slide" axis="0.9593164815 0 0.2823329387" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l009_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669461 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.11384043e-7 1.11384043e-7"/><geom name="chain_l009_c" type="capsule" fromto="0 0 0 0.01397733892 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l010" pos="0.01397733892 0 0" quat="0.9897768151 0 0.1426248797 0"><joint name="chain_l010_s" type="slide" axis="0.9593162874 0 0.2823335984" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l010_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988673066 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841352e-7 1.113841352e-7"/><geom name="chain_l010_c" type="capsule" fromto="0 0 0 0.01397734613 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l011" pos="0.01397734613 0 0" quat="0.9897761997 0 0.1426291501 0"><joint name="chain_l011_s" type="slide" axis="0.9593138511 0 0.2823418764" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l011_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672803 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841285e-7 1.113841285e-7"/><geom name="chain_l011_c" type="capsule" fromto="0 0 0 0.01397734561 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l012" pos="0.01397734561 0 0" quat="0.9897768641 0 0.1426245393 0"><joint name="chain_l012_s" type="slide" axis="0.9593164816 0 0.2823329385" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l012_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00698866935 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840401e-7 1.113840401e-7"/><geom name="chain_l012_c" type="capsule" fromto="0 0 0 0.0139773387 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l013" pos="0.0139773387 0 0" quat="0.9897768641 0 0.1426245393 0"><joint name="chain_l013_s" type="slide" axis="0.9593164816 0 0.2823329386" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l013_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672031 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841087e-7 1.113841087e-7"/><geom name="chain_l013_c" type="capsule" fromto="0 0 0 0.01397734406 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l014" pos="0.01397734406 0 0" quat="0.9897762895 0 0.142628527 0"><joint name="chain_l014_s" type="slide" axis="0.9593142066 0 0.2823406684" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l014_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672775 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841278e-7 1.113841278e-7"/><geom name="chain_l014_c" type="capsule" fromto="0 0 0 0.01397734555 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l015" pos="0.01397734555 0 0" quat="0.9897767253 0 0.1426255029 0"><joint name="chain_l015_s" type="slide" axis="0.9593159319 0 0.2823348063" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l015_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669664 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840482e-7 1.113840482e-7"/><geom name="chain_l015_c" type="capsule" fromto="0 0 0 0.01397733933 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l016" pos="0.01397733933 0 0" quat="0.9897768641 0 0.1426245394 0"><joint name="chain_l016_s" type="slide" axis="0.9593164815 0 0.2823329387" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l016_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00698867073 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840754e-7 1.113840754e-7"/><geom name="chain_l016_c" type="capsule" fromto="0 0 0 0.01397734146 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l017" pos="0.01397734146 0 0" quat="0.9914109163 0 0.1307837718 0"><joint name="chain_l017_s" type="slide" axis="0.9657912101 0 0.2593209181" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l017_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00700158504 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.117148407e-7 1.117148407e-7"/><geom name="chain_l017_c" type="capsule" fromto="0 0 0 0.01400317008 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l018" pos="0.01400317008 0 0" quat="0.9996882052 0 0.02496983104 0"><joint name="chain_l018_s" type="slide" axis="0.9987530151 0 0.04992409115" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l018_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l018_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l019" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l019_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l019_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l019_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l020" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l020_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l020_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l020_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l021" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l021_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l021_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l021_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l022" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l022_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l022_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l022_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l023" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l023_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l023_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l023_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l024" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l024_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l024_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l024_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l025" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l025_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l025_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l025_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l026" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l026_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l026_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l026_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l027" pos="0.01402517549 0 0" quat="0.9999214838 0 -0.01253101025 0"><joint name="chain_l027_s" type="slide" axis="0.9996859476 0 -0.02506005273" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l027_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007007910888 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.118770831e-7 1.118770831e-7"/><geom name="chain_l027_c" type="capsule" fromto="0 0 0 0.01401582178 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l028" pos="0.01401582178 0 0" quat="0.9934028525 0 -0.1146768186 0"><joint name="chain_l028_s" type="slide" axis="0.9736984546 0 -0.2278405574" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l028_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00699050926 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311272e-7 1.114311272e-7"/><geom name="chain_l028_c" type="capsule" fromto="0 0 0 0.01398101852 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l029" pos="0.01398101852 0 0" quat="0.9905611835 0 -0.1370713016 0"><joint name="chain_l029_s" type="slide" axis="0.9624229166 0 -0.2715550214" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l029_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990508436 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311061e-7 1.114311061e-7"/><geom name="chain_l029_c" type="capsule" fromto="0 0 0 0.01398101687 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l030" pos="0.01398101687 0 0" quat="0.9905618228 0 -0.1370666818 0"><joint name="chain_l030_s" type="slide" axis="0.9624254495 0 -0.2715460443" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l030_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990507265 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114310761e-7 1.114310761e-7"/><geom name="chain_l030_c" type="capsule" fromto="0 0 0 0.01398101453 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l031" pos="0.01398101453 0 0" quat="0.9905614105 0 -0.1370696615 0"><joint name="chain_l031_s" type="slide" axis="0.9624238158 0 -0.2715518345" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l031_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990508981 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.1143112e-7 1.1143112e-7"/><geom name="chain_l031_c" type="capsule" fromto="0 0 0 0.01398101796 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l032" pos="0.01398101796 0 0" quat="0.9905613894 0 -0.1370698135 0"><joint name="chain_l032_s" type="slide" axis="0.9624237325 0 -0.2715521298" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l032_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990507347 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114310782e-7 1.114310782e-7"/><geom name="chain_l032_c" type="capsule" fromto="0 0 0 0.01398101469 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l033" pos="0.01398101469 0 0" quat="0.9905618228 0 -0.1370666818 0"><joint name="chain_l033_s" type="slide" axis="0.9624254495 0 -0.2715460443" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l033_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990508302 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311026e-7 1.114311026e-7"/><geom name="chain_l033_c" type="capsule" fromto="0 0 0 0.0139810166 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l034" pos="0.0139810166 0 0" quat="0.9905612045 0 -0.1370711496 0"><joint name="chain_l034_s" type="slide" axis="0.9624229999 0 -0.2715547261" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l034_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990509208 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311258e-7 1.114311258e-7"/><geom name="chain_l034_c" type="capsule" fromto="0 0 0 0.01398101842 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l035" pos="0.01398101842 0 0" quat="0.9905615953 0 -0.1370683254 0"><joint name="chain_l035_s" type="slide" axis="0.9624245484 0 -0.2715492381" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l035_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990506776 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114310636e-7 1.114310636e-7"/><geom name="chain_l035_c" type="capsule" fromto="0 0 0 0.01398101355 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l036" pos="0.01398101355 0 0" quat="0.9905618228 0 -0.1370666818 0"><joint name="chain_l036_s" type="slide" axis="0.9624254495 0 -0.2715460444" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l036_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990509856 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311424e-7 1.114311424e-7"/><geom name="chain_l036_c" type="capsule" fromto="0 0 0 0.01398101971 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l037" pos="0.01398101971 0 0" quat="0.9905609986 0 -0.1370726376 0"><joint name="chain_l037_s" type="slide" axis="0.962422184 0 -0.2715576177" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l037_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990509942 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114311446e-7 1.114311446e-7"/><geom name="chain_l037_c" type="capsule" fromto="0 0 0 0.01398101988 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l038" pos="0.01398101988 0 0" quat="0.9905609678 0 -0.1370728603 0"><joint name="chain_l038_s" type="slide" axis="0.962422062 0 -0.2715580503" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l038_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006990495153 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114307661e-7 1.114307661e-7"/><geom name="chain_l038_c" type="capsule" fromto="0 0 0 0.01398099031 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l039" pos="0.01398099031 0 0" quat="0.9976678454 0 -0.06825591771 0"><joint name="chain_l039_s" type="slide" axis="0.9906822594 0 -0.1361934687" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l039_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l039_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l040" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l040_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l040_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l040_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l041" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l041_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l041_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l041_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l042" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l042_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l042_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l042_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l043" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l043_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l043_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l043_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l044" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l044_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l044_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l044_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l045" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l045_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l045_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l045_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l046" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l046_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l046_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l046_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l047" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l047_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l047_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l047_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l048" pos="0.01402517549 0 0" quat="0.9999999995 0 0.00003212256272 0"><joint name="chain_l048_s" type="slide" axis="0.9999999979 0 0.00006424512541" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l048_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012586902 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971055e-7 1.119971055e-7"/><geom name="chain_l048_c" type="capsule" fromto="0 0 0 0.0140251738 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l049" pos="0.0140251738 0 0" quat="0.9972226371 0 0.07447826563 0"><joint name="chain_l049_s" type="slide" axis="0.9889059759 0 0.1485428249" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l049_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672991 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841333e-7 1.113841333e-7"/><geom name="chain_l049_c" type="capsule" fromto="0 0 0 0.01397734598 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l050" pos="0.01397734598 0 0" quat="0.9897767947 0 0.1426250214 0"><joint name="chain_l050_s" type="slide" axis="0.9593162066 0 0.282333873" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l050_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669499 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840439e-7 1.113840439e-7"/><geom name="chain_l050_c" type="capsule" fromto="0 0 0 0.013977339 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l051" pos="0.013977339 0 0" quat="0.9897768642 0 0.1426245392 0"><joint name="chain_l051_s" type="slide" axis="0.9593164816 0 0.2823329383" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l051_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671161 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840865e-7 1.113840865e-7"/><geom name="chain_l051_c" type="capsule" fromto="0 0 0 0.01397734232 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l052" pos="0.01397734232 0 0" quat="0.9897764079 0 0.1426277053 0"><joint name="chain_l052_s" type="slide" axis="0.9593146753 0 0.2823390757" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l052_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672544 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841218e-7 1.113841218e-7"/><geom name="chain_l052_c" type="capsule" fromto="0 0 0 0.01397734509 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l053" pos="0.01397734509 0 0" quat="0.9897766069 0 0.1426263244 0"><joint name="chain_l053_s" type="slide" axis="0.9593154632 0 0.2823363988" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l053_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988670081 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840588e-7 1.113840588e-7"/><geom name="chain_l053_c" type="capsule" fromto="0 0 0 0.01397734016 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l054" pos="0.01397734016 0 0" quat="0.9897768642 0 0.1426245392 0"><joint name="chain_l054_s" type="slide" axis="0.9593164816 0 0.2823329383" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l054_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988670129 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840601e-7 1.113840601e-7"/><geom name="chain_l054_c" type="capsule" fromto="0 0 0 0.01397734026 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l055" pos="0.01397734026 0 0" quat="0.9897765957 0 0.1426264023 0"><joint name="chain_l055_s" type="slide" axis="0.9593154188 0 0.2823365498" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l055_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672531 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841215e-7 1.113841215e-7"/><geom name="chain_l055_c" type="capsule" fromto="0 0 0 0.01397734506 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l056" pos="0.01397734506 0 0" quat="0.9897764191 0 0.1426276274 0"><joint name="chain_l056_s" type="slide" axis="0.9593147198 0 0.2823389247" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l056_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671088 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840846e-7 1.113840846e-7"/><geom name="chain_l056_c" type="capsule" fromto="0 0 0 0.01397734218 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l057" pos="0.01397734218 0 0" quat="0.9897768642 0 0.1426245392 0"><joint name="chain_l057_s" type="slide" axis="0.9593164816 0 0.2823329383" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l057_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669521 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840445e-7 1.113840445e-7"/><geom name="chain_l057_c" type="capsule" fromto="0 0 0 0.01397733904 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l058" pos="0.01397733904 0 0" quat="0.9897767835 0 0.1426250992 0"><joint name="chain_l058_s" type="slide" axis="0.9593161621 0 0.2823340239" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l058_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672952 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841323e-7 1.113841323e-7"/><geom name="chain_l058_c" type="capsule" fromto="0 0 0 0.0139773459 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l059" pos="0.0139773459 0 0" quat="0.9897762314 0 0.1426289305 0"><joint name="chain_l059_s" type="slide" axis="0.9593139764 0 0.2823414507" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l059_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00698867252 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841212e-7 1.113841212e-7"/><geom name="chain_l059_c" type="capsule" fromto="0 0 0 0.01397734504 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l060" pos="0.01397734504 0 0" quat="0.9899923726 0 0.141120878 0"><joint name="chain_l060_s" type="slide" axis="0.9601697956 0 0.2794171858" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l060_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006991161375 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.114478191e-7 1.114478191e-7"/><geom name="chain_l060_c" type="capsule" fromto="0 0 0 0.01398232275 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l061" pos="0.01398232275 0 0" quat="0.9986408615 0 0.05211937894 0"><joint name="chain_l061_s" type="slide" axis="0.9945671407 0 0.104097083" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l061_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l061_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l062" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l062_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l062_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l062_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l063" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l063_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l063_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l063_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l064" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l064_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l064_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l064_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l065" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l065_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l065_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l065_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l066" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l066_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l066_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l066_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l067" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l067_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l067_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l067_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l068" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l068_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l068_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l068_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l069" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l069_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l069_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l069_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l070" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l070_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l070_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l070_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l071" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l071_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l071_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l071_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l072" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l072_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l072_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l072_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l073" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l073_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l073_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l073_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l074" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l074_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l074_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l074_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l075" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l075_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l075_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l075_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l076" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l076_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l076_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l076_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l077" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l077_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l077_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l077_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l078" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l078_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l078_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l078_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l079" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l079_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l079_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l079_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l080" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l080_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l080_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l080_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l081" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l081_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l081_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l081_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l082" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l082_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l082_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l082_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l083" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l083_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l083_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l083_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l084" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l084_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l084_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l084_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l085" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l085_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l085_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l085_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l086" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l086_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l086_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l086_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l087" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l087_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l087_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l087_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l088" pos="0.01402517549 0 0" quat="0.9999992753 0 0.001203940036 0"><joint name="chain_l088_s" type="slide" axis="0.9999971011 0 0.002407878326" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l088_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012399235 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.11992287e-7 1.11992287e-7"/><geom name="chain_l088_c" type="capsule" fromto="0 0 0 0.01402479847 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l089" pos="0.01402479847 0 0" quat="0.9960498875 0 0.08879539133 0"><joint name="chain_l089_s" type="slide" axis="0.984230757 0 0.1768892791" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l089_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671086 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840846e-7 1.113840846e-7"/><geom name="chain_l089_c" type="capsule" fromto="0 0 0 0.01397734217 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l090" pos="0.01397734217 0 0" quat="0.9897769768 0 0.1426237576 0"><joint name="chain_l090_s" type="slide" axis="0.9593169276 0 0.2823314232" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l090_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00698867074 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840757e-7 1.113840757e-7"/><geom name="chain_l090_c" type="capsule" fromto="0 0 0 0.01397734148 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l091" pos="0.01397734148 0 0" quat="0.9897764168 0 0.1426276435 0"><joint name="chain_l091_s" type="slide" axis="0.9593147106 0 0.2823389559" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l091_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671807 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.11384103e-7 1.11384103e-7"/><geom name="chain_l091_c" type="capsule" fromto="0 0 0 0.01397734361 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l092" pos="0.01397734361 0 0" quat="0.9897766592 0 0.1426259616 0"><joint name="chain_l092_s" type="slide" axis="0.9593156702 0 0.2823356955" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l092_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669908 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840544e-7 1.113840544e-7"/><geom name="chain_l092_c" type="capsule" fromto="0 0 0 0.01397733982 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l093" pos="0.01397733982 0 0" quat="0.9897769768 0 0.1426237575 0"><joint name="chain_l093_s" type="slide" axis="0.9593169276 0 0.282331423" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l093_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988672818 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841289e-7 1.113841289e-7"/><geom name="chain_l093_c" type="capsule" fromto="0 0 0 0.01397734564 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l094" pos="0.01397734564 0 0" quat="0.9897761089 0 0.1426297805 0"><joint name="chain_l094_s" type="slide" axis="0.9593134914 0 0.2823430984" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l094_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.00698867285 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841297e-7 1.113841297e-7"/><geom name="chain_l094_c" type="capsule" fromto="0 0 0 0.0139773457 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l095" pos="0.0139773457 0 0" quat="0.9897769671 0 0.1426238247 0"><joint name="chain_l095_s" type="slide" axis="0.9593168893 0 0.2823315533" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l095_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988669872 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840535e-7 1.113840535e-7"/><geom name="chain_l095_c" type="capsule" fromto="0 0 0 0.01397733974 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l096" pos="0.01397733974 0 0" quat="0.9897766786 0 0.1426258272 0"><joint name="chain_l096_s" type="slide" axis="0.9593157469 0 0.282335435" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l096_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988671838 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113841038e-7 1.113841038e-7"/><geom name="chain_l096_c" type="capsule" fromto="0 0 0 0.01397734368 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l097" pos="0.01397734368 0 0" quat="0.9897763974 0 0.142627778 0"><joint name="chain_l097_s" type="slide" axis="0.9593146339 0 0.2823392165" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l097_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.006988670837 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.113840782e-7 1.113840782e-7"/><geom name="chain_l097_c" type="capsule" fromto="0 0 0 0.01397734167 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l098" pos="0.01397734167 0 0" quat="0.9969373718 0 0.07820407115 0"><joint name="chain_l098_s" type="slide" axis="0.9877682465 0 0.1559291223" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l098_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012577254 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119968578e-7 1.119968578e-7"/><geom name="chain_l098_c" type="capsule" fromto="0 0 0 0.01402515451 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l099" pos="0.01402515451 0 0" quat="0.9999999873 0 0.0001595882135 0"><joint name="chain_l099_s" type="slide" axis="0.9999999491 0 0.0003191764229" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l099_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l099_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l100" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l100_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l100_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l100_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l101" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l101_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l101_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l101_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l102" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l102_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l102_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l102_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l103" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l103_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l103_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l103_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l104" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l104_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l104_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l104_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l105" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l105_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l105_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l105_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l106" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l106_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l106_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l106_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l107" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l107_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l107_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l107_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l108" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l108_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l108_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l108_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l109" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l109_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l109_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l109_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l110" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l110_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l110_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l110_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l111" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l111_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l111_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l111_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l112" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l112_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l112_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l112_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l113" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l113_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l113_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l113_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l114" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l114_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l114_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l114_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l115" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l115_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l115_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l115_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l116" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l116_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l116_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l116_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l117" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l117_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l117_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l117_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l118" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l118_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l118_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l118_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 0.005 0.0001" solref="0.0005 1" solimp="0.98 0.999 0.0001" margin="0" group="3" mass="0"/>
<body name="chain_l119" pos="0.01402517549 0 0" quat="1 0 0 0"><joint name="chain_l119_s" type="slide" axis="1 0 0" stiffness="400000" springref="-0.0000625" damping="12"/><joint name="chain_l119_h" type="hinge" axis="0 1 0" damping="0.001" armature="0"/><inertial pos="0.007012587747 0 0" mass="0.005492174327" diaginertia="4.393739462e-8 1.119971272e-7 1.119971272e-7"/><geom name="chain_l119_c" type="capsule" fromto="0 0 0 0.01402517549 0 0" size="0.004" contype="2" conaffinity="0" friction="0.8 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></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="chain_eyeA" body1="chain_l000" body2="hand" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="chain_eyeB" body1="chain_l119" body2="hand" anchor="0.01402517549 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/></equality>
<contact><exclude body1="chain_l000" body2="hand"/><exclude body1="chain_l119" body2="hand"/></contact>
<actuator><velocity name="drive" joint="j_hand" kv="60000" forcerange="-400 400"/></actuator>
</mujoco>
