<mujoco model="428-india-rubber-rotary-engine">
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<body name="e19" pos="0.047384 0 0.192964"><joint name="je19" type="slide" axis="-0.5446 0 -0.8387" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e19_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port18" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e20" pos="0.0435 0 0.195344"><joint name="je20" type="slide" axis="-0.5 0 -0.866" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e20_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port19" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e21" pos="0.039497 0 0.197518"><joint name="je21" type="slide" axis="-0.454 0 -0.891" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e21_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port20" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e22" pos="0.035386 0 0.199478"><joint name="je22" type="slide" axis="-0.4067 0 -0.9135" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e22_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port21" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e23" pos="0.031178 0 0.201221"><joint name="je23" type="slide" axis="-0.3584 0 -0.9336" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e23_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port22" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e24" pos="0.026884 0 0.202742"><joint name="je24" type="slide" axis="-0.309 0 -0.9511" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e24_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port23" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e25" pos="0.022517 0 0.204036"><joint name="je25" type="slide" axis="-0.2588 0 -0.9659" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e25_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port24" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e26" pos="0.018088 0 0.205099"><joint name="je26" type="slide" axis="-0.2079 0 -0.9781" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e26_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port25" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e27" pos="0.01361 0 0.205929"><joint name="je27" type="slide" axis="-0.1564 0 -0.9877" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e27_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port26" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e28" pos="0.009094 0 0.206523"><joint name="je28" type="slide" axis="-0.1045 0 -0.9945" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e28_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port27" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e29" pos="0.004553 0 0.206881"><joint name="je29" type="slide" axis="-0.0523 0 -0.9986" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e29_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port28" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e30" pos="0 0 0.207"><joint name="je30" type="slide" axis="0 0 -1" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e30_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port29" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e31" pos="-0.004553 0 0.206881"><joint name="je31" type="slide" axis="0.0523 0 -0.9986" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e31_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port30" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e32" pos="-0.009094 0 0.206523"><joint name="je32" type="slide" axis="0.1045 0 -0.9945" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e32_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port31" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e33" pos="-0.01361 0 0.205929"><joint name="je33" type="slide" axis="0.1564 0 -0.9877" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e33_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port32" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e34" pos="-0.018088 0 0.205099"><joint name="je34" type="slide" axis="0.2079 0 -0.9781" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e34_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port33" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e35" pos="-0.022517 0 0.204036"><joint name="je35" type="slide" axis="0.2588 0 -0.9659" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e35_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port34" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e36" pos="-0.026884 0 0.202742"><joint name="je36" type="slide" axis="0.309 0 -0.9511" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e36_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port35" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e37" pos="-0.031178 0 0.201221"><joint name="je37" type="slide" axis="0.3584 0 -0.9336" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e37_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port36" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e38" pos="-0.035386 0 0.199478"><joint name="je38" type="slide" axis="0.4067 0 -0.9135" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e38_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port37" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e39" pos="-0.039497 0 0.197518"><joint name="je39" type="slide" axis="0.454 0 -0.891" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e39_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port38" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e40" pos="-0.0435 0 0.195344"><joint name="je40" type="slide" axis="0.5 0 -0.866" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e40_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port39" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e41" pos="-0.047384 0 0.192964"><joint name="je41" type="slide" axis="0.5446 0 -0.8387" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e41_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port40" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e42" pos="-0.051137 0 0.190384"><joint name="je42" type="slide" axis="0.5878 0 -0.809" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e42_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port41" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e43" pos="-0.054751 0 0.187612"><joint name="je43" type="slide" axis="0.6293 0 -0.7771" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e43_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port42" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e44" pos="-0.058214 0 0.184654"><joint name="je44" type="slide" axis="0.6691 0 -0.7431" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e44_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port43" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e45" pos="-0.061518 0 0.181518"><joint name="je45" type="slide" axis="0.7071 0 -0.7071" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e45_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port44" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e46" pos="-0.064654 0 0.178214"><joint name="je46" type="slide" axis="0.7431 0 -0.6691" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e46_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port45" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e47" pos="-0.067612 0 0.174751"><joint name="je47" type="slide" axis="0.7771 0 -0.6293" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e47_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port46" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e48" pos="-0.070384 0 0.171137"><joint name="je48" type="slide" axis="0.809 0 -0.5878" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e48_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port47" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e49" pos="-0.072964 0 0.167384"><joint name="je49" type="slide" axis="0.8387 0 -0.5446" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e49_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port48" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e50" pos="-0.075344 0 0.1635"><joint name="je50" type="slide" axis="0.866 0 -0.5" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e50_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port49" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e51" pos="-0.077518 0 0.159497"><joint name="je51" type="slide" axis="0.891 0 -0.454" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e51_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port50" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e52" pos="-0.079478 0 0.155386"><joint name="je52" type="slide" axis="0.9135 0 -0.4067" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e52_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port51" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e53" pos="-0.081221 0 0.151178"><joint name="je53" type="slide" axis="0.9336 0 -0.3584" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e53_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port52" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e54" pos="-0.082742 0 0.146884"><joint name="je54" type="slide" axis="0.9511 0 -0.309" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e54_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port53" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e55" pos="-0.084036 0 0.142517"><joint name="je55" type="slide" axis="0.9659 0 -0.2588" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e55_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port54" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e56" pos="-0.085099 0 0.138088"><joint name="je56" type="slide" axis="0.9781 0 -0.2079" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e56_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port55" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e57" pos="-0.085929 0 0.13361"><joint name="je57" type="slide" axis="0.9877 0 -0.1564" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e57_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port56" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e58" pos="-0.086523 0 0.129094"><joint name="je58" type="slide" axis="0.9945 0 -0.1045" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e58_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/><site name="port57" pos="0 0.012 0" size="0.002" group="4"/></body>
<body name="e62" pos="-0.086523 0 0.110906"><joint name="je62" type="slide" axis="0.9945 0 0.1045" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e62_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e63" pos="-0.085929 0 0.10639"><joint name="je63" type="slide" axis="0.9877 0 0.1564" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e63_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e64" pos="-0.085099 0 0.101912"><joint name="je64" type="slide" axis="0.9781 0 0.2079" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e64_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e65" pos="-0.084036 0 0.097483"><joint name="je65" type="slide" axis="0.9659 0 0.2588" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e65_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e66" pos="-0.082742 0 0.093116"><joint name="je66" type="slide" axis="0.9511 0 0.309" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e66_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e67" pos="-0.081221 0 0.088822"><joint name="je67" type="slide" axis="0.9336 0 0.3584" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e67_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e68" pos="-0.079478 0 0.084614"><joint name="je68" type="slide" axis="0.9135 0 0.4067" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e68_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e69" pos="-0.077518 0 0.080503"><joint name="je69" type="slide" axis="0.891 0 0.454" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e69_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e70" pos="-0.075344 0 0.0765"><joint name="je70" type="slide" axis="0.866 0 0.5" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e70_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e71" pos="-0.072964 0 0.072616"><joint name="je71" type="slide" axis="0.8387 0 0.5446" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e71_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e72" pos="-0.070384 0 0.068863"><joint name="je72" type="slide" axis="0.809 0 0.5878" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e72_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e73" pos="-0.067612 0 0.065249"><joint name="je73" type="slide" axis="0.7771 0 0.6293" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e73_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e74" pos="-0.064654 0 0.061786"><joint name="je74" type="slide" axis="0.7431 0 0.6691" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e74_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e75" pos="-0.061518 0 0.058482"><joint name="je75" type="slide" axis="0.7071 0 0.7071" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e75_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e76" pos="-0.058214 0 0.055346"><joint name="je76" type="slide" axis="0.6691 0 0.7431" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e76_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e77" pos="-0.054751 0 0.052388"><joint name="je77" type="slide" axis="0.6293 0 0.7771" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e77_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e78" pos="-0.051137 0 0.049616"><joint name="je78" type="slide" axis="0.5878 0 0.809" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e78_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e79" pos="-0.047384 0 0.047036"><joint name="je79" type="slide" axis="0.5446 0 0.8387" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e79_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e80" pos="-0.0435 0 0.044656"><joint name="je80" type="slide" axis="0.5 0 0.866" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e80_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e81" pos="-0.039497 0 0.042482"><joint name="je81" type="slide" axis="0.454 0 0.891" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e81_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e82" pos="-0.035386 0 0.040522"><joint name="je82" type="slide" axis="0.4067 0 0.9135" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e82_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e83" pos="-0.031178 0 0.038779"><joint name="je83" type="slide" axis="0.3584 0 0.9336" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e83_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e84" pos="-0.026884 0 0.037258"><joint name="je84" type="slide" axis="0.309 0 0.9511" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e84_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e85" pos="-0.022517 0 0.035964"><joint name="je85" type="slide" axis="0.2588 0 0.9659" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e85_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e86" pos="-0.018088 0 0.034901"><joint name="je86" type="slide" axis="0.2079 0 0.9781" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e86_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e87" pos="-0.01361 0 0.034071"><joint name="je87" type="slide" axis="0.1564 0 0.9877" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e87_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e88" pos="-0.009094 0 0.033477"><joint name="je88" type="slide" axis="0.1045 0 0.9945" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e88_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e89" pos="-0.004553 0 0.033119"><joint name="je89" type="slide" axis="0.0523 0 0.9986" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e89_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e90" pos="0 0 0.033"><joint name="je90" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e90_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e91" pos="0.004553 0 0.033119"><joint name="je91" type="slide" axis="-0.0523 0 0.9986" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e91_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e92" pos="0.009094 0 0.033477"><joint name="je92" type="slide" axis="-0.1045 0 0.9945" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e92_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e93" pos="0.01361 0 0.034071"><joint name="je93" type="slide" axis="-0.1564 0 0.9877" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e93_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e94" pos="0.018088 0 0.034901"><joint name="je94" type="slide" axis="-0.2079 0 0.9781" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e94_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e95" pos="0.022517 0 0.035964"><joint name="je95" type="slide" axis="-0.2588 0 0.9659" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e95_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e96" pos="0.026884 0 0.037258"><joint name="je96" type="slide" axis="-0.309 0 0.9511" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e96_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e97" pos="0.031178 0 0.038779"><joint name="je97" type="slide" axis="-0.3584 0 0.9336" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e97_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e98" pos="0.035386 0 0.040522"><joint name="je98" type="slide" axis="-0.4067 0 0.9135" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e98_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e99" pos="0.039497 0 0.042482"><joint name="je99" type="slide" axis="-0.454 0 0.891" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e99_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e100" pos="0.0435 0 0.044656"><joint name="je100" type="slide" axis="-0.5 0 0.866" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e100_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e101" pos="0.047384 0 0.047036"><joint name="je101" type="slide" axis="-0.5446 0 0.8387" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e101_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e102" pos="0.051137 0 0.049616"><joint name="je102" type="slide" axis="-0.5878 0 0.809" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e102_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e103" pos="0.054751 0 0.052388"><joint name="je103" type="slide" axis="-0.6293 0 0.7771" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e103_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e104" pos="0.058214 0 0.055346"><joint name="je104" type="slide" axis="-0.6691 0 0.7431" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e104_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e105" pos="0.061518 0 0.058482"><joint name="je105" type="slide" axis="-0.7071 0 0.7071" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e105_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e106" pos="0.064654 0 0.061786"><joint name="je106" type="slide" axis="-0.7431 0 0.6691" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e106_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e107" pos="0.067612 0 0.065249"><joint name="je107" type="slide" axis="-0.7771 0 0.6293" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e107_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e108" pos="0.070384 0 0.068863"><joint name="je108" type="slide" axis="-0.809 0 0.5878" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e108_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e109" pos="0.072964 0 0.072616"><joint name="je109" type="slide" axis="-0.8387 0 0.5446" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e109_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e110" pos="0.075344 0 0.0765"><joint name="je110" type="slide" axis="-0.866 0 0.5" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e110_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e111" pos="0.077518 0 0.080503"><joint name="je111" type="slide" axis="-0.891 0 0.454" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e111_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e112" pos="0.079478 0 0.084614"><joint name="je112" type="slide" axis="-0.9135 0 0.4067" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e112_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e113" pos="0.081221 0 0.088822"><joint name="je113" type="slide" axis="-0.9336 0 0.3584" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e113_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e114" pos="0.082742 0 0.093116"><joint name="je114" type="slide" axis="-0.9511 0 0.309" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e114_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e115" pos="0.084036 0 0.097483"><joint name="je115" type="slide" axis="-0.9659 0 0.2588" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e115_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e116" pos="0.085099 0 0.101912"><joint name="je116" type="slide" axis="-0.9781 0 0.2079" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e116_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e117" pos="0.085929 0 0.10639"><joint name="je117" type="slide" axis="-0.9877 0 0.1564" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e117_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<body name="e118" pos="0.086523 0 0.110906"><joint name="je118" type="slide" axis="-0.9945 0 0.1045" damping="0" frictionloss="0" range="0 0.005" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001" stiffness="30" springref="0"/><inertial pos="0 0.012 0" mass="0.00068423888" fullinertia="2.91371723e-8 3.07907496e-9 2.91371723e-8 0 0 0"/><geom name="e118_h0" type="capsule" fromto="0 0.001 0 0 0.023 0" size="0.003" contype="8" conaffinity="16" condim="3" friction="0.6 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
<site name="ports_ref" pos="0 0 0" size="0.001" group="4"/><geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="port1" site="port1" refsite="ports_ref" gear="-0.9945246148 0 -0.1045025865 0 0 0" ctrlrange="0 4.5"/><motor name="port2" site="port2" refsite="ports_ref" gear="-0.9876939504 0 -0.1563990421 0 0 0" ctrlrange="0 4.5"/><motor name="port3" site="port3" refsite="ports_ref" gear="-0.9781479206 0 -0.2079101858 0 0 0" ctrlrange="0 4.5"/><motor name="port4" site="port4" refsite="ports_ref" gear="-0.9659288576 0 -0.258807732 0 0 0" ctrlrange="0 4.5"/><motor name="port5" site="port5" refsite="ports_ref" gear="-0.9510656624 0 -0.3089888442 0 0 0" ctrlrange="0 4.5"/><motor name="port6" site="port6" refsite="ports_ref" gear="-0.9335722173 0 -0.3583893345 0 0 0" ctrlrange="0 4.5"/><motor name="port7" site="port7" refsite="ports_ref" gear="-0.9135515532 0 -0.406722952 0 0 0" ctrlrange="0 4.5"/><motor name="port8" site="port8" refsite="ports_ref" gear="-0.8910013365 0 -0.454000681 0 0 0" ctrlrange="0 4.5"/><motor name="port9" site="port9" refsite="ports_ref" gear="-0.8660190526 0 -0.5000110004 0 0 0" ctrlrange="0 4.5"/><motor name="port10" site="port10" refsite="ports_ref" gear="-0.8386971275 0 -0.5445981348 0 0 0" ctrlrange="0 4.5"/><motor name="port11" site="port11" refsite="ports_ref" gear="-0.8090041098 0 -0.587802986 0 0 0" ctrlrange="0 4.5"/><motor name="port12" site="port12" refsite="ports_ref" gear="-0.777137731 0 -0.6293305547 0 0 0" ctrlrange="0 4.5"/><motor name="port13" site="port13" refsite="ports_ref" gear="-0.7431399746 0 -0.6691359938 0 0 0" ctrlrange="0 4.5"/><motor name="port14" site="port14" refsite="ports_ref" gear="-0.7071067812 0 -0.7071067812 0 0 0" ctrlrange="0 4.5"/><motor name="port15" site="port15" refsite="ports_ref" gear="-0.6691359938 0 -0.7431399746 0 0 0" ctrlrange="0 4.5"/><motor name="port16" site="port16" refsite="ports_ref" gear="-0.6293305547 0 -0.777137731 0 0 0" ctrlrange="0 4.5"/><motor name="port17" site="port17" refsite="ports_ref" gear="-0.587802986 0 -0.8090041098 0 0 0" ctrlrange="0 4.5"/><motor name="port18" site="port18" refsite="ports_ref" gear="-0.5445981348 0 -0.8386971275 0 0 0" ctrlrange="0 4.5"/><motor name="port19" site="port19" refsite="ports_ref" gear="-0.5000110004 0 -0.8660190526 0 0 0" ctrlrange="0 4.5"/><motor name="port20" site="port20" refsite="ports_ref" gear="-0.454000681 0 -0.8910013365 0 0 0" ctrlrange="0 4.5"/><motor name="port21" site="port21" refsite="ports_ref" gear="-0.406722952 0 -0.9135515532 0 0 0" ctrlrange="0 4.5"/><motor name="port22" site="port22" refsite="ports_ref" gear="-0.3583893345 0 -0.9335722173 0 0 0" ctrlrange="0 4.5"/><motor name="port23" site="port23" refsite="ports_ref" gear="-0.3089888442 0 -0.9510656624 0 0 0" ctrlrange="0 4.5"/><motor name="port24" site="port24" refsite="ports_ref" gear="-0.258807732 0 -0.9659288576 0 0 0" ctrlrange="0 4.5"/><motor name="port25" site="port25" refsite="ports_ref" gear="-0.2079101858 0 -0.9781479206 0 0 0" ctrlrange="0 4.5"/><motor name="port26" site="port26" refsite="ports_ref" gear="-0.1563990421 0 -0.9876939504 0 0 0" ctrlrange="0 4.5"/><motor name="port27" site="port27" refsite="ports_ref" gear="-0.1045025865 0 -0.9945246148 0 0 0" ctrlrange="0 4.5"/><motor name="port28" site="port28" refsite="ports_ref" gear="-0.05230164099 0 -0.9986313325 0 0 0" ctrlrange="0 4.5"/><motor name="port29" site="port29" refsite="ports_ref" gear="0 0 -1 0 0 0" ctrlrange="0 4.5"/><motor name="port30" site="port30" refsite="ports_ref" gear="0.05230164099 0 -0.9986313325 0 0 0" ctrlrange="0 4.5"/><motor name="port31" site="port31" refsite="ports_ref" gear="0.1045025865 0 -0.9945246148 0 0 0" ctrlrange="0 4.5"/><motor name="port32" site="port32" refsite="ports_ref" gear="0.1563990421 0 -0.9876939504 0 0 0" ctrlrange="0 4.5"/><motor name="port33" site="port33" refsite="ports_ref" gear="0.2079101858 0 -0.9781479206 0 0 0" ctrlrange="0 4.5"/><motor name="port34" site="port34" refsite="ports_ref" gear="0.258807732 0 -0.9659288576 0 0 0" ctrlrange="0 4.5"/><motor name="port35" site="port35" refsite="ports_ref" gear="0.3089888442 0 -0.9510656624 0 0 0" ctrlrange="0 4.5"/><motor name="port36" site="port36" refsite="ports_ref" gear="0.3583893345 0 -0.9335722173 0 0 0" ctrlrange="0 4.5"/><motor name="port37" site="port37" refsite="ports_ref" gear="0.406722952 0 -0.9135515532 0 0 0" ctrlrange="0 4.5"/><motor name="port38" site="port38" refsite="ports_ref" gear="0.454000681 0 -0.8910013365 0 0 0" ctrlrange="0 4.5"/><motor name="port39" site="port39" refsite="ports_ref" gear="0.5000110004 0 -0.8660190526 0 0 0" ctrlrange="0 4.5"/><motor name="port40" site="port40" refsite="ports_ref" gear="0.5445981348 0 -0.8386971275 0 0 0" ctrlrange="0 4.5"/><motor name="port41" site="port41" refsite="ports_ref" gear="0.587802986 0 -0.8090041098 0 0 0" ctrlrange="0 4.5"/><motor name="port42" site="port42" refsite="ports_ref" gear="0.6293305547 0 -0.777137731 0 0 0" ctrlrange="0 4.5"/><motor name="port43" site="port43" refsite="ports_ref" gear="0.6691359938 0 -0.7431399746 0 0 0" ctrlrange="0 4.5"/><motor name="port44" site="port44" refsite="ports_ref" gear="0.7071067812 0 -0.7071067812 0 0 0" ctrlrange="0 4.5"/><motor name="port45" site="port45" refsite="ports_ref" gear="0.7431399746 0 -0.6691359938 0 0 0" ctrlrange="0 4.5"/><motor name="port46" site="port46" refsite="ports_ref" gear="0.777137731 0 -0.6293305547 0 0 0" ctrlrange="0 4.5"/><motor name="port47" site="port47" refsite="ports_ref" gear="0.8090041098 0 -0.587802986 0 0 0" ctrlrange="0 4.5"/><motor name="port48" site="port48" refsite="ports_ref" gear="0.8386971275 0 -0.5445981348 0 0 0" ctrlrange="0 4.5"/><motor name="port49" site="port49" refsite="ports_ref" gear="0.8660190526 0 -0.5000110004 0 0 0" ctrlrange="0 4.5"/><motor name="port50" site="port50" refsite="ports_ref" gear="0.8910013365 0 -0.454000681 0 0 0" ctrlrange="0 4.5"/><motor name="port51" site="port51" refsite="ports_ref" gear="0.9135515532 0 -0.406722952 0 0 0" ctrlrange="0 4.5"/><motor name="port52" site="port52" refsite="ports_ref" gear="0.9335722173 0 -0.3583893345 0 0 0" ctrlrange="0 4.5"/><motor name="port53" site="port53" refsite="ports_ref" gear="0.9510656624 0 -0.3089888442 0 0 0" ctrlrange="0 4.5"/><motor name="port54" site="port54" refsite="ports_ref" gear="0.9659288576 0 -0.258807732 0 0 0" ctrlrange="0 4.5"/><motor name="port55" site="port55" refsite="ports_ref" gear="0.9781479206 0 -0.2079101858 0 0 0" ctrlrange="0 4.5"/><motor name="port56" site="port56" refsite="ports_ref" gear="0.9876939504 0 -0.1563990421 0 0 0" ctrlrange="0 4.5"/><motor name="port57" site="port57" refsite="ports_ref" gear="0.9945246148 0 -0.1045025865 0 0 0" ctrlrange="0 4.5"/></actuator>
</mujoco>
