<mujoco model="436-jonval-turbine">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.0003" integrator="implicitfast" iterations="50" cone="elliptic" impratio="10" gravity="0 0 -9.81"/>
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<body name="c4" pos="0 0 0"><joint name="jc4" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084612 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r4" pos="0 0 0"><joint name="jr4" type="slide" axis="0.8326 0.5538 0" damping="0" frictionloss="0" range="-0.020112 0.010888" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084612 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w4" pos="0.07045 0.046862 0.097993"><joint name="jz4" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697788318 0.00005761325822 -2.213450341e-7" mass="0.0004" fullinertia="2.018826829e-9 2.109223775e-9 2.201810163e-9 -3.814806979e-11 0 0"/><geom name="w4_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c5" pos="0 0 0"><joint name="jc5" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084594 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r5" pos="0 0 0"><joint name="jr5" type="slide" axis="-0.5536 0.8328 0" damping="0" frictionloss="0" range="-0.020094 0.010906" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084594 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w5" pos="-0.046829 0.07045 0.097993"><joint name="jz5" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001701244497 0.00005750861135 -2.213451397e-7" mass="0.0004" fullinertia="2.018771253e-9 2.109023722e-9 2.201600282e-9 -3.798616241e-11 0 0"/><geom name="w5_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c6" pos="0 0 0"><joint name="jc6" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084573 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r6" pos="0 0 0"><joint name="jr6" type="slide" axis="-0.833 -0.5533 0" damping="0" frictionloss="0" range="-0.020073 0.010927" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084573 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w6" pos="-0.07045 -0.046791 0.097993"><joint name="jz6" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169671961 0.00005707513028 -2.213457632e-7" mass="0.0004" fullinertia="2.018640933e-9 2.109102464e-9 2.201668314e-9 -3.819556055e-11 0 0"/><geom name="w6_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c7" pos="0 0 0"><joint name="jc7" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084551 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r7" pos="0 0 0"><joint name="jr7" type="slide" axis="0.5529 -0.8332 0" damping="0" frictionloss="0" range="-0.020051 0.010949" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084551 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w7" pos="0.046751 -0.07045 0.097993"><joint name="jz7" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001693890726 0.0000575403738 -2.213360377e-7" mass="0.0004" fullinertia="2.018803734e-9 2.109124504e-9 2.201732964e-9 -3.808634346e-11 0 0"/><geom name="w7_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c8" pos="0 0 0"><joint name="jc8" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084526 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r8" pos="0 0 0"><joint name="jr8" type="slide" axis="0.8335 0.5526 0" damping="0" frictionloss="0" range="-0.020026 0.010974" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084526 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w8" pos="0.07045 0.046706 0.097993"><joint name="jz8" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697179826 0.00005767105623 -2.213387319e-7" mass="0.0004" fullinertia="2.018785734e-9 2.109167124e-9 2.201799584e-9 -3.817934447e-11 0 0"/><geom name="w8_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c9" pos="0 0 0"><joint name="jc9" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.0845 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r9" pos="0 0 0"><joint name="jr9" type="slide" axis="-0.5522 0.8337 0" damping="0" frictionloss="0" range="-0.02 0.011" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0845 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w9" pos="-0.046658 0.07045 0.097993"><joint name="jz9" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695910908 0.0000575238794 -2.21328184e-7" mass="0.0004" fullinertia="2.018803316e-9 2.109142665e-9 2.201805951e-9 -3.803098797e-11 0 0"/><geom name="w9_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c10" pos="0 0 0"><joint name="jc10" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084471 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r10" pos="0 0 0"><joint name="jr10" type="slide" axis="-0.834 -0.5517 0" damping="0" frictionloss="0" range="-0.019971 0.011029" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084471 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w10" pos="-0.07045 -0.046607 0.097993"><joint name="jz10" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169671961 0.00005805617118 -2.213457632e-7" mass="0.0004" fullinertia="2.018641806e-9 2.109102464e-9 2.201669187e-9 -3.819684728e-11 0 0"/><geom name="w10_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c11" pos="0 0 0"><joint name="jc11" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084441 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r11" pos="0 0 0"><joint name="jr11" type="slide" axis="0.5513 -0.8343 0" damping="0" frictionloss="0" range="-0.019941 0.011059" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084441 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w11" pos="0.046551 -0.07045 0.097993"><joint name="jz11" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697684881 0.00005752894451 -2.213301335e-7" mass="0.0004" fullinertia="2.018788638e-9 2.109164233e-9 2.201842178e-9 -3.80334972e-11 0 0"/><geom name="w11_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c12" pos="0 0 0"><joint name="jc12" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084408 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r12" pos="0 0 0"><joint name="jr12" type="slide" axis="0.8346 0.5508 0" damping="0" frictionloss="0" range="-0.019908 0.011092" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084408 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w12" pos="0.07045 0.046492 0.097993"><joint name="jz12" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697550158 0.00005776103878 -2.213436173e-7" mass="0.0004" fullinertia="2.018697758e-9 2.109173523e-9 2.20168763e-9 -3.812789793e-11 0 0"/><geom name="w12_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c13" pos="0 0 0"><joint name="jc13" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084374 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r13" pos="0 0 0"><joint name="jr13" type="slide" axis="-0.5503 0.835 0" damping="0" frictionloss="0" range="-0.019874 0.011126" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084374 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w13" pos="-0.04643 0.07045 0.097993"><joint name="jz13" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697684881 0.00005752894451 -2.213301335e-7" mass="0.0004" fullinertia="2.018788638e-9 2.109164233e-9 2.201842178e-9 -3.80334972e-11 0 0"/><geom name="w13_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c14" pos="0 0 0"><joint name="jc14" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084337 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r14" pos="0 0 0"><joint name="jr14" type="slide" axis="-0.8353 -0.5497 0" damping="0" frictionloss="0" range="-0.019837 0.011163" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084337 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w14" pos="-0.07045 -0.046363 0.097993"><joint name="jz14" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169671961 0.00005707513028 -2.213457632e-7" mass="0.0004" fullinertia="2.018640933e-9 2.109102464e-9 2.201668314e-9 -3.819556055e-11 0 0"/><geom name="w14_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c15" pos="0 0 0"><joint name="jc15" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084299 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r15" pos="0 0 0"><joint name="jr15" type="slide" axis="0.5492 -0.8357 0" damping="0" frictionloss="0" range="-0.019799 0.011201" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084299 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w15" pos="0.046294 -0.07045 0.097993"><joint name="jz15" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169333825 0.00005757834986 -2.213424935e-7" mass="0.0004" fullinertia="2.018802612e-9 2.10916759e-9 2.201729206e-9 -3.80594783e-11 0 0"/><geom name="w15_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c16" pos="0 0 0"><joint name="jc16" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084259 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r16" pos="0 0 0"><joint name="jr16" type="slide" axis="0.8361 0.5486 0" damping="0" frictionloss="0" range="-0.019759 0.011241" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084259 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w16" pos="0.07045 0.04622 0.097993"><joint name="jz16" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697072251 0.00005765828907 -2.213328525e-7" mass="0.0004" fullinertia="2.018808109e-9 2.109185932e-9 2.201816648e-9 -3.81754847e-11 0 0"/><geom name="w16_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c17" pos="0 0 0"><joint name="jc17" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.084216 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r17" pos="0 0 0"><joint name="jr17" type="slide" axis="-0.5479 0.8365 0" damping="0" frictionloss="0" range="-0.019716 0.011284" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.084216 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w17" pos="-0.046143 0.07045 0.097993"><joint name="jz17" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696818788 0.00005752249174 -2.213317871e-7" mass="0.0004" fullinertia="2.018767705e-9 2.109153845e-9 2.201853175e-9 -3.808325799e-11 0 0"/><geom name="w17_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c24" pos="0 0 0"><joint name="jc24" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083866 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r24" pos="0 0 0"><joint name="jr24" type="slide" axis="0.84 0.5425 0" damping="0" frictionloss="0" range="-0.019366 0.011634" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083866 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w24" pos="0.07045 0.045501 0.097993"><joint name="jz24" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697131136 0.00005766929623 -1.933914433e-7" mass="0.0004" fullinertia="2.018751165e-9 2.109130266e-9 2.201811358e-9 -3.817843661e-11 0 0"/><geom name="w24_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c25" pos="0 0 0"><joint name="jc25" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083809 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r25" pos="0 0 0"><joint name="jr25" type="slide" axis="-0.5417 0.8406 0" damping="0" frictionloss="0" range="-0.019309 0.011691" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083809 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w25" pos="-0.045395 0.07045 0.097993"><joint name="jz25" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696526369 0.00005755045031 -1.93399421e-7" mass="0.0004" fullinertia="2.018755842e-9 2.109124328e-9 2.20190476e-9 -3.805256618e-11 0 0"/><geom name="w25_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c26" pos="0 0 0"><joint name="jc26" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083749 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r26" pos="0 0 0"><joint name="jr26" type="slide" axis="-0.8412 -0.5407 0" damping="0" frictionloss="0" range="-0.019249 0.011751" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083749 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w26" pos="-0.07045 -0.045285 0.097993"><joint name="jz26" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696957662 0.00005746279725 -1.933959645e-7" mass="0.0004" fullinertia="2.018724411e-9 2.109126566e-9 2.201873216e-9 -3.813735052e-11 0 0"/><geom name="w26_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c27" pos="0 0 0"><joint name="jc27" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083688 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r27" pos="0 0 0"><joint name="jr27" type="slide" axis="0.5398 -0.8418 0" damping="0" frictionloss="0" range="-0.019188 0.011812" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083688 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w27" pos="0.045172 -0.07045 0.097993"><joint name="jz27" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001692972878 0.00005756573271 0" mass="0.0004" fullinertia="2.018611598e-9 2.108952117e-9 2.201808409e-9 -3.805304304e-11 0 0"/><geom name="w27_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c28" pos="0 0 0"><joint name="jc28" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083625 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r28" pos="0 0 0"><joint name="jr28" type="slide" axis="0.8425 0.5388 0" damping="0" frictionloss="0" range="-0.019125 0.011875" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083625 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w28" pos="0.07045 0.045055 0.097993"><joint name="jz28" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696483641 0.00005706973762 0" mass="0.0004" fullinertia="2.018449603e-9 2.108891984e-9 2.201724585e-9 -3.819245515e-11 0 0"/><geom name="w28_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c29" pos="0 0 0"><joint name="jc29" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.08356 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r29" pos="0 0 0"><joint name="jr29" type="slide" axis="-0.5377 0.8431 0" damping="0" frictionloss="0" range="-0.01906 0.01194" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.08356 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w29" pos="-0.044934 0.07045 0.097993"><joint name="jz29" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697448865 0.00005752355215 0" mass="0.0004" fullinertia="2.018597333e-9 2.108953753e-9 2.201898472e-9 -3.803039313e-11 0 0"/><geom name="w29_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c30" pos="0 0 0"><joint name="jc30" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083493 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r30" pos="0 0 0"><joint name="jr30" type="slide" axis="-0.8438 -0.5367 0" damping="0" frictionloss="0" range="-0.018993 0.012007" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083493 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w30" pos="-0.07045 -0.044809 0.097993"><joint name="jz30" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695878923 0.00005719921497 0" mass="0.0004" fullinertia="2.018531847e-9 2.108900727e-9 2.201896515e-9 -3.811935587e-11 0 0"/><geom name="w30_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c31" pos="0 0 0"><joint name="jc31" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083424 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r31" pos="0 0 0"><joint name="jr31" type="slide" axis="0.5356 -0.8445 0" damping="0" frictionloss="0" range="-0.018924 0.012076" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083424 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w31" pos="0.044681 -0.07045 0.097993"><joint name="jz31" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001698377713 0.00005748908508 0" mass="0.0004" fullinertia="2.01860781e-9 2.108858552e-9 2.201783947e-9 -3.80775215e-11 0 0"/><geom name="w31_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c32" pos="0 0 0"><joint name="jc32" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083354 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r32" pos="0 0 0"><joint name="jr32" type="slide" axis="0.8452 0.5345 0" damping="0" frictionloss="0" range="-0.018854 0.012146" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083354 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w32" pos="0.07045 0.04455 0.097993"><joint name="jz32" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695878923 0.00005719921497 0" mass="0.0004" fullinertia="2.018531847e-9 2.108900727e-9 2.201896515e-9 -3.811935587e-11 0 0"/><geom name="w32_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c33" pos="0 0 0"><joint name="jc33" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083282 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r33" pos="0 0 0"><joint name="jr33" type="slide" axis="-0.5333 0.8459 0" damping="0" frictionloss="0" range="-0.018782 0.012218" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083282 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w33" pos="-0.044414 0.07045 0.097993"><joint name="jz33" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001694586337 0.00005755124982 0" mass="0.0004" fullinertia="2.018626107e-9 2.108848049e-9 2.201758474e-9 -3.807090852e-11 0 0"/><geom name="w33_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c41" pos="0 0 0"><joint name="jc41" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082641 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r41" pos="0 0 0"><joint name="jr41" type="slide" axis="-0.5228 0.8525 0" damping="0" frictionloss="0" range="-0.018141 0.012859" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082641 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w41" pos="-0.043201 0.07045 0.097993"><joint name="jz41" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697635327 0.00005752895276 2.213285538e-7" mass="0.0004" fullinertia="2.018793102e-9 2.109166568e-9 2.201850316e-9 -3.803313733e-11 0 0"/><geom name="w41_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c42" pos="0 0 0"><joint name="jc42" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082553 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r42" pos="0 0 0"><joint name="jr42" type="slide" axis="-0.8534 -0.5213 0" damping="0" frictionloss="0" range="-0.018053 0.012947" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082553 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w42" pos="-0.07045 -0.043033 0.097993"><joint name="jz42" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697179826 0.00005767105623 2.213387319e-7" mass="0.0004" fullinertia="2.018785734e-9 2.109167124e-9 2.201799584e-9 -3.817934447e-11 0 0"/><geom name="w42_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c43" pos="0 0 0"><joint name="jc43" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082464 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r43" pos="0 0 0"><joint name="jr43" type="slide" axis="0.5198 -0.8543 0" damping="0" frictionloss="0" range="-0.017964 0.013036" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082464 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w43" pos="0.042861 -0.07045 0.097993"><joint name="jz43" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697607277 0.00005752836072 2.213288212e-7" mass="0.0004" fullinertia="2.018789511e-9 2.109160912e-9 2.20184998e-9 -3.803242036e-11 0 0"/><geom name="w43_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c44" pos="0 0 0"><joint name="jc44" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082373 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r44" pos="0 0 0"><joint name="jr44" type="slide" axis="0.8553 0.5182 0" damping="0" frictionloss="0" range="-0.017873 0.013127" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082373 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w44" pos="0.07045 0.042686 0.097993"><joint name="jz44" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696996057 0.00005745883575 2.213323521e-7" mass="0.0004" fullinertia="2.018756811e-9 2.109160473e-9 2.201841137e-9 -3.813803279e-11 0 0"/><geom name="w44_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c45" pos="0 0 0"><joint name="jc45" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.08228 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r45" pos="0 0 0"><joint name="jr45" type="slide" axis="-0.5166 0.8562 0" damping="0" frictionloss="0" range="-0.01778 0.01322" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.08228 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w45" pos="-0.042507 0.07045 0.097993"><joint name="jz45" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697635327 0.00005752895276 2.213285538e-7" mass="0.0004" fullinertia="2.018793102e-9 2.109166568e-9 2.201850316e-9 -3.803313733e-11 0 0"/><geom name="w45_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c46" pos="0 0 0"><joint name="jc46" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082186 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r46" pos="0 0 0"><joint name="jr46" type="slide" axis="-0.8572 -0.515 0" damping="0" frictionloss="0" range="-0.017686 0.013314" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082186 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w46" pos="-0.07045 -0.042324 0.097993"><joint name="jz46" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187993 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169642117 0.00005744549073 4.905221998e-7" mass="0.0004" fullinertia="2.01890898e-9 2.109266463e-9 2.20196938e-9 -3.81304071e-11 0 0"/><geom name="w46_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c57" pos="0 0 0"><joint name="jc57" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.081051 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r57" pos="0 0 0"><joint name="jr57" type="slide" axis="-0.4945 0.8692 0" damping="0" frictionloss="0" range="-0.016551 0.014449" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.081051 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w57" pos="-0.040076 0.07045 0.097994"><joint name="jz57" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001699520931 0.00005744984117 0" mass="0.0004" fullinertia="2.018603819e-9 2.108930489e-9 2.201813193e-9 -3.804907635e-11 0 0"/><geom name="w57_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c58" pos="0 0 0"><joint name="jc58" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080939 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r58" pos="0 0 0"><joint name="jr58" type="slide" axis="-0.8704 -0.4923 0" damping="0" frictionloss="0" range="-0.016439 0.014561" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080939 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w58" pos="-0.07045 -0.039849 0.097994"><joint name="jz58" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696483641 0.00005706973762 0" mass="0.0004" fullinertia="2.018449603e-9 2.108891984e-9 2.201724585e-9 -3.819245515e-11 0 0"/><geom name="w58_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c59" pos="0 0 0"><joint name="jc59" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080826 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r59" pos="0 0 0"><joint name="jr59" type="slide" axis="0.4902 -0.8716 0" damping="0" frictionloss="0" range="-0.016326 0.014674" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080826 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w59" pos="0.03962 -0.07045 0.097994"><joint name="jz59" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001691198159 0.00005750322591 0" mass="0.0004" fullinertia="2.018579935e-9 2.10881064e-9 2.201653987e-9 -3.798262173e-11 0 0"/><geom name="w59_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c60" pos="0 0 0"><joint name="jc60" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080712 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r60" pos="0 0 0"><joint name="jr60" type="slide" axis="0.8729 0.488 0" damping="0" frictionloss="0" range="-0.016212 0.014788" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080712 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w60" pos="0.07045 0.039386 0.097994"><joint name="jz60" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697094279 0.00005758378219 0" mass="0.0004" fullinertia="2.018639152e-9 2.108996073e-9 2.201923661e-9 -3.813232547e-11 0 0"/><geom name="w60_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c61" pos="0 0 0"><joint name="jc61" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080597 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r61" pos="0 0 0"><joint name="jr61" type="slide" axis="-0.4857 0.8741 0" damping="0" frictionloss="0" range="-0.016097 0.014903" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080597 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w61" pos="-0.039149 0.07045 0.097994"><joint name="jz61" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169755862 0.00005752660403 1.933903869e-7" mass="0.0004" fullinertia="2.018754947e-9 2.109124059e-9 2.201861751e-9 -3.803151302e-11 0 0"/><geom name="w61_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c62" pos="0 0 0"><joint name="jc62" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.08048 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r62" pos="0 0 0"><joint name="jr62" type="slide" axis="-0.8754 -0.4835 0" damping="0" frictionloss="0" range="-0.01598 0.01502" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.08048 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w62" pos="-0.07045 -0.038908 0.097994"><joint name="jz62" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696922978 0.000057463478 1.933957707e-7" mass="0.0004" fullinertia="2.018726442e-9 2.109126674e-9 2.201877613e-9 -3.813759349e-11 0 0"/><geom name="w62_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c63" pos="0 0 0"><joint name="jc63" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080362 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r63" pos="0 0 0"><joint name="jr63" type="slide" axis="0.4811 -0.8767 0" damping="0" frictionloss="0" range="-0.015862 0.015138" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080362 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w63" pos="0.038664 -0.07045 0.097994"><joint name="jz63" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187994 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169477368 0.00005755487307 1.933906468e-7" mass="0.0004" fullinertia="2.018782852e-9 2.109021681e-9 2.201713954e-9 -3.807310186e-11 0 0"/><geom name="w63_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c75" pos="0 0 0"><joint name="jc75" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.078865 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r75" pos="0 0 0"><joint name="jr75" type="slide" axis="0.4495 -0.8933 0" damping="0" frictionloss="0" range="-0.014365 0.016635" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.078865 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w75" pos="0.035447 -0.07045 0.097995"><joint name="jz75" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187995 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169679458 0.00005748630146 0" mass="0.0004" fullinertia="2.018600563e-9 2.108945185e-9 2.201949986e-9 -3.805382887e-11 0 0"/><geom name="w75_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c91" pos="0 0 0"><joint name="jc91" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.076707 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r91" pos="0 0 0"><joint name="jr91" type="slide" axis="0.3956 -0.9184 0" damping="0" frictionloss="0" range="-0.012207 0.018793" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.076707 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w91" pos="0.030344 -0.07045 0.097996"><joint name="jz91" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187996 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001691198159 0.00005750322591 0" mass="0.0004" fullinertia="2.018579935e-9 2.10881064e-9 2.201653987e-9 -3.798262173e-11 0 0"/><geom name="w91_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c105" pos="0 0 0"><joint name="jc105" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074793 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r105" pos="0 0 0"><joint name="jr105" type="slide" axis="-0.3358 0.9419 0" damping="0" frictionloss="0" range="-0.010293 0.020707" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074793 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w105" pos="-0.025114 0.07045 0.097997"><joint name="jz105" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695674933 0.00005751849594 0" mass="0.0004" fullinertia="2.018612008e-9 2.108932181e-9 2.201862245e-9 -3.802788403e-11 0 0"/><geom name="w105_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c106" pos="0 0 0"><joint name="jc106" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074659 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r106" pos="0 0 0"><joint name="jr106" type="slide" axis="-0.9436 -0.331 0" damping="0" frictionloss="0" range="-0.010159 0.020841" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074659 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w106" pos="-0.07045 -0.024713 0.097997"><joint name="jz106" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696483641 0.00005706973762 0" mass="0.0004" fullinertia="2.018449603e-9 2.108891984e-9 2.201724585e-9 -3.819245515e-11 0 0"/><geom name="w106_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c107" pos="0 0 0"><joint name="jc107" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074526 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r107" pos="0 0 0"><joint name="jr107" type="slide" axis="0.3262 -0.9453 0" damping="0" frictionloss="0" range="-0.010026 0.020974" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074526 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w107" pos="0.024309 -0.07045 0.097997"><joint name="jz107" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696981924 0.00005748993508 1.933985424e-7" mass="0.0004" fullinertia="2.018757311e-9 2.109118821e-9 2.201905463e-9 -3.805602785e-11 0 0"/><geom name="w107_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c108" pos="0 0 0"><joint name="jc108" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074394 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r108" pos="0 0 0"><joint name="jr108" type="slide" axis="0.947 0.3213 0" damping="0" frictionloss="0" range="-0.009894 0.021106" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074394 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w108" pos="0.07045 0.023901 0.097997"><joint name="jz108" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169648251 0.00005749751387 1.933992388e-7" mass="0.0004" fullinertia="2.018737929e-9 2.10914399e-9 2.201907075e-9 -3.81117832e-11 0 0"/><geom name="w108_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c109" pos="0 0 0"><joint name="jc109" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074263 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r109" pos="0 0 0"><joint name="jr109" type="slide" axis="-0.3163 0.9487 0" damping="0" frictionloss="0" range="-0.009763 0.021237" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074263 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w109" pos="-0.023489 0.07045 0.097997"><joint name="jz109" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695910908 0.0000575238794 2.21328184e-7" mass="0.0004" fullinertia="2.018803316e-9 2.109142665e-9 2.201805951e-9 -3.803098797e-11 0 0"/><geom name="w109_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c110" pos="0 0 0"><joint name="jc110" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074132 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r110" pos="0 0 0"><joint name="jr110" type="slide" axis="-0.9503 -0.3113 0" damping="0" frictionloss="0" range="-0.009632 0.021368" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074132 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w110" pos="-0.07045 -0.023074 0.097997"><joint name="jz110" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187997 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697072251 0.00005765828907 2.213328525e-7" mass="0.0004" fullinertia="2.018808109e-9 2.109185932e-9 2.201816648e-9 -3.81754847e-11 0 0"/><geom name="w110_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c111" pos="0 0 0"><joint name="jc111" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.074003 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r111" pos="0 0 0"><joint name="jr111" type="slide" axis="0.3061 -0.952 0" damping="0" frictionloss="0" range="-0.009503 0.021497" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.074003 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w111" pos="0.022655 -0.07045 0.097998"><joint name="jz111" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187998 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696038381 0.00005754614639 -4.905223021e-7" mass="0.0004" fullinertia="2.018955271e-9 2.109281311e-9 2.201990778e-9 -3.804698511e-11 0 0"/><geom name="w111_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c112" pos="0 0 0"><joint name="jc112" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.073875 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r112" pos="0 0 0"><joint name="jr112" type="slide" axis="0.9536 0.3009 0" damping="0" frictionloss="0" range="-0.009375 0.021625" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.073875 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w112" pos="0.07045 0.022232 0.097998"><joint name="jz112" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187998 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697550158 0.00005776103878 -2.213436173e-7" mass="0.0004" fullinertia="2.018697758e-9 2.109173523e-9 2.20168763e-9 -3.812789793e-11 0 0"/><geom name="w112_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c121" pos="0 0 0"><joint name="jc121" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072779 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r121" pos="0 0 0"><joint name="jr121" type="slide" axis="-0.251 0.968 0" damping="0" frictionloss="0" range="-0.008279 0.022721" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072779 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w121" pos="-0.018265 0.07045 0.097998"><joint name="jz121" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187998 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696005659 0.00005752502455 2.213258806e-7" mass="0.0004" fullinertia="2.018803851e-9 2.109144938e-9 2.201828549e-9 -3.803191996e-11 0 0"/><geom name="w121_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c122" pos="0 0 0"><joint name="jc122" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072665 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r122" pos="0 0 0"><joint name="jr122" type="slide" axis="-0.9695 -0.245 0" damping="0" frictionloss="0" range="-0.008165 0.022835" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072665 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w122" pos="-0.07045 -0.017806 0.097999"><joint name="jz122" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187999 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696396725 0.00005745188856 -4.905220723e-7" mass="0.0004" fullinertia="2.018913168e-9 2.10926951e-9 2.201994085e-9 -3.813087418e-11 0 0"/><geom name="w122_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c123" pos="0 0 0"><joint name="jc123" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072553 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r123" pos="0 0 0"><joint name="jr123" type="slide" axis="0.239 -0.971 0" damping="0" frictionloss="0" range="-0.008053 0.022947" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072553 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w123" pos="0.017344 -0.07045 0.097999"><joint name="jz123" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187999 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001691434088 0.00005750861135 -2.213451397e-7" mass="0.0004" fullinertia="2.018771253e-9 2.109021149e-9 2.201597709e-9 -3.798572628e-11 0 0"/><geom name="w123_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c124" pos="0 0 0"><joint name="jc124" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072443 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r124" pos="0 0 0"><joint name="jr124" type="slide" axis="0.9725 0.233 0" damping="0" frictionloss="0" range="-0.007943 0.023057" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072443 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w124" pos="0.07045 0.016877 0.097999"><joint name="jz124" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187999 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697131136 0.00005766929623 -1.933914432e-7" mass="0.0004" fullinertia="2.018751165e-9 2.109130266e-9 2.201811358e-9 -3.817843661e-11 0 0"/><geom name="w124_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c125" pos="0 0 0"><joint name="jc125" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072335 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r125" pos="0 0 0"><joint name="jr125" type="slide" axis="-0.2268 0.9739 0" damping="0" frictionloss="0" range="-0.007835 0.023165" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072335 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w125" pos="-0.016407 0.07045 0.097999"><joint name="jz125" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.187999 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001693289577 0.00005757659223 -1.933984705e-7" mass="0.0004" fullinertia="2.018768041e-9 2.109130728e-9 2.201740979e-9 -3.805857077e-11 0 0"/><geom name="w125_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c138" pos="0 0 0"><joint name="jc138" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.071152 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r138" pos="0 0 0"><joint name="jr138" type="slide" axis="-0.9901 -0.1401 0" damping="0" frictionloss="0" range="-0.006652 0.024348" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.071152 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w138" pos="-0.07045 -0.009968 0.098"><joint name="jz138" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696836261 0.00005765289463 0" mass="0.0004" fullinertia="2.018616797e-9 2.108975444e-9 2.201872939e-9 -3.8172378e-11 0 0"/><geom name="w138_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c139" pos="0 0 0"><joint name="jc139" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.071081 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r139" pos="0 0 0"><joint name="jr139" type="slide" axis="0.1329 -0.9911 0" damping="0" frictionloss="0" range="-0.006581 0.024419" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.071081 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w139" pos="0.009447 -0.07045 0.098"><joint name="jz139" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697142724 0.00005748958636 1.933938566e-7" mass="0.0004" fullinertia="2.018770047e-9 2.109138982e-9 2.201878126e-9 -3.80574037e-11 0 0"/><geom name="w139_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c140" pos="0 0 0"><joint name="jc140" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.071013 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r140" pos="0 0 0"><joint name="jr140" type="slide" axis="0.9921 0.1256 0" damping="0" frictionloss="0" range="-0.006513 0.024487" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.071013 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w140" pos="0.07045 0.008923 0.098"><joint name="jz140" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696114958 0.00005720460028 2.213397994e-7" mass="0.0004" fullinertia="2.018723159e-9 2.109111198e-9 2.201840235e-9 -3.812246666e-11 0 0"/><geom name="w140_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c141" pos="0 0 0"><joint name="jc141" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070948 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r141" pos="0 0 0"><joint name="jr141" type="slide" axis="-0.1183 0.993 0" damping="0" frictionloss="0" range="-0.006448 0.024552" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070948 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w141" pos="-0.008395 0.07045 0.098"><joint name="jz141" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001701244497 0.00005750861135 2.213451397e-7" mass="0.0004" fullinertia="2.018771253e-9 2.109023722e-9 2.201600282e-9 -3.798616241e-11 0 0"/><geom name="w141_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c153" pos="0 0 0"><joint name="jc153" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070472 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r153" pos="0 0 0"><joint name="jr153" type="slide" axis="-0.0252 0.9997 0" damping="0" frictionloss="0" range="-0.005972 0.025028" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070472 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w153" pos="-0.001774 0.07045 0.098002"><joint name="jz153" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188002 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696981924 0.00005748993508 -1.933985424e-7" mass="0.0004" fullinertia="2.018757311e-9 2.109118821e-9 2.201905463e-9 -3.805602785e-11 0 0"/><geom name="w153_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c154" pos="0 0 0"><joint name="jc154" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07046 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r154" pos="0 0 0"><joint name="jr154" type="slide" axis="-0.9999 -0.017 0" damping="0" frictionloss="0" range="-0.00596 0.02504" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07046 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w154" pos="-0.07045 -0.001199 0.098002"><joint name="jz154" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188002 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697090257 0.00005790989478 0" mass="0.0004" fullinertia="2.018559026e-9 2.10889649e-9 2.201857132e-9 -3.813481858e-11 0 0"/><geom name="w154_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c155" pos="0 0 0"><joint name="jc155" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070453 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r155" pos="0 0 0"><joint name="jr155" type="slide" axis="0.0088 -1 0" damping="0" frictionloss="0" range="-0.005953 0.025047" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070453 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w155" pos="0.00062 -0.07045 0.098002"><joint name="jz155" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188002 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001693102358 0.0000575729693 0" mass="0.0004" fullinertia="2.01861129e-9 2.10895708e-9 2.201785487e-9 -3.805637891e-11 0 0"/><geom name="w155_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c156" pos="0 0 0"><joint name="jc156" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07045 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r156" pos="0 0 0"><joint name="jr156" type="slide" axis="1 0.0005 0" damping="0" frictionloss="0" range="-0.00595 0.02505" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07045 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w156" pos="0.07045 0.000037 0.098002"><joint name="jz156" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188002 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696770141 0.00005752073493 1.934008048e-7" mass="0.0004" fullinertia="2.018733151e-9 2.109117002e-9 2.201864944e-9 -3.808235106e-11 0 0"/><geom name="w156_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c157" pos="0 0 0"><joint name="jc157" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070452 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r157" pos="0 0 0"><joint name="jr157" type="slide" axis="0.0078 1 0" damping="0" frictionloss="0" range="-0.005952 0.025048" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070452 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w157" pos="0.000549 0.07045 0.098002"><joint name="jz157" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188002 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697636207 0.00005752718735 1.933857853e-7" mass="0.0004" fullinertia="2.018754069e-9 2.109127375e-9 2.201853951e-9 -3.803258962e-11 0 0"/><geom name="w157_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c169" pos="0 0 0"><joint name="jc169" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070888 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r169" pos="0 0 0"><joint name="jr169" type="slide" axis="0.111 0.9938 0" damping="0" frictionloss="0" range="-0.006388 0.024612" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070888 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w169" pos="0.007868 0.07045 0.098004"><joint name="jz169" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188004 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697142724 0.00005748958636 -1.933938566e-7" mass="0.0004" fullinertia="2.018770047e-9 2.109138982e-9 2.201878126e-9 -3.80574037e-11 0 0"/><geom name="w169_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c170" pos="0 0 0"><joint name="jc170" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.070961 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r170" pos="0 0 0"><joint name="jr170" type="slide" axis="-0.9928 0.1198 0" damping="0" frictionloss="0" range="-0.006461 0.024539" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.070961 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w170" pos="-0.07045 0.008502 0.098004"><joint name="jz170" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188004 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695878923 0.00005719921497 0" mass="0.0004" fullinertia="2.018531847e-9 2.108900727e-9 2.201896515e-9 -3.811935587e-11 0 0"/><geom name="w170_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c171" pos="0 0 0"><joint name="jc171" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07104 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r171" pos="0 0 0"><joint name="jr171" type="slide" axis="-0.1286 -0.9917 0" damping="0" frictionloss="0" range="-0.00654 0.02446" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07104 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w171" pos="-0.009139 -0.07045 0.098004"><joint name="jz171" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188004 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697448865 0.00005752355215 0" mass="0.0004" fullinertia="2.018597333e-9 2.108953753e-9 2.201898472e-9 -3.803039313e-11 0 0"/><geom name="w171_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c185" pos="0 0 0"><joint name="jc185" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.072824 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r185" pos="0 0 0"><joint name="jr185" type="slide" axis="0.2532 0.9674 0" damping="0" frictionloss="0" range="-0.008324 0.022676" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.072824 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w185" pos="0.018441 0.07045 0.098006"><joint name="jz185" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188006 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169737126 0.0000575229682 0" mass="0.0004" fullinertia="2.018598207e-9 2.108950433e-9 2.201906275e-9 -3.802931625e-11 0 0"/><geom name="w185_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c186" pos="0 0 0"><joint name="jc186" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.073002 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r186" pos="0 0 0"><joint name="jr186" type="slide" axis="-0.965 0.2621 0" damping="0" frictionloss="0" range="-0.008502 0.022498" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.073002 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w186" pos="-0.07045 0.019133 0.098006"><joint name="jz186" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188006 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696735563 0.00005745984633 0" mass="0.0004" fullinertia="2.018569697e-9 2.108953045e-9 2.201922137e-9 -3.813539617e-11 0 0"/><geom name="w186_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c187" pos="0 0 0"><joint name="jc187" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.073187 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r187" pos="0 0 0"><joint name="jr187" type="slide" axis="-0.2709 -0.9626 0" damping="0" frictionloss="0" range="-0.008687 0.022313" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.073187 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w187" pos="-0.019828 -0.07045 0.098006"><joint name="jz187" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188006 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695862261 0.00005752212194 1.933880854e-7" mass="0.0004" fullinertia="2.018768748e-9 2.109105808e-9 2.201817724e-9 -3.803008052e-11 0 0"/><geom name="w187_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c188" pos="0 0 0"><joint name="jc188" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07338 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r188" pos="0 0 0"><joint name="jr188" type="slide" axis="0.9601 -0.2797 0" damping="0" frictionloss="0" range="-0.00888 0.02212" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07338 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w188" pos="0.07045 -0.020527 0.098006"><joint name="jz188" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188006 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696996057 0.00005745883575 2.213323521e-7" mass="0.0004" fullinertia="2.018756811e-9 2.109160473e-9 2.201841137e-9 -3.813803279e-11 0 0"/><geom name="w188_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c189" pos="0 0 0"><joint name="jc189" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.073579 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r189" pos="0 0 0"><joint name="jr189" type="slide" axis="0.2885 0.9575 0" damping="0" frictionloss="0" range="-0.009079 0.021921" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.073579 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w189" pos="0.02123 0.07045 0.098007"><joint name="jz189" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188007 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696005659 0.00005752502455 -2.213258806e-7" mass="0.0004" fullinertia="2.018803851e-9 2.109144938e-9 2.201828549e-9 -3.803191996e-11 0 0"/><geom name="w189_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c201" pos="0 0 0"><joint name="jc201" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07655 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r201" pos="0 0 0"><joint name="jr201" type="slide" axis="0.3912 0.9203 0" damping="0" frictionloss="0" range="-0.01205 0.01895" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07655 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w201" pos="0.029945 0.07045 0.098008"><joint name="jz201" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188008 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697635327 0.00005752895276 2.213285538e-7" mass="0.0004" fullinertia="2.018793102e-9 2.109166568e-9 2.201850316e-9 -3.803313733e-11 0 0"/><geom name="w201_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c202" pos="0 0 0"><joint name="jc202" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.076847 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r202" pos="0 0 0"><joint name="jr202" type="slide" axis="-0.9168 0.3994 0" damping="0" frictionloss="0" range="-0.012347 0.018653" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.076847 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w202" pos="-0.07045 0.030695 0.098008"><joint name="jz202" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188008 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697213439 0.00005759990491 4.90522781e-7" mass="0.0004" fullinertia="2.018978997e-9 2.109329759e-9 2.201938398e-9 -3.81404406e-11 0 0"/><geom name="w202_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c203" pos="0 0 0"><joint name="jc203" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.077151 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r203" pos="0 0 0"><joint name="jr203" type="slide" axis="-0.4076 -0.9131 0" damping="0" frictionloss="0" range="-0.012651 0.018349" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.077151 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w203" pos="-0.031449 -0.07045 0.098009"><joint name="jz203" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001699816924 0.00005745790111 -2.213438489e-7" mass="0.0004" fullinertia="2.018795496e-9 2.109142733e-9 2.201772008e-9 -3.805226968e-11 0 0"/><geom name="w203_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c204" pos="0 0 0"><joint name="jc204" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.077462 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r204" pos="0 0 0"><joint name="jr204" type="slide" axis="0.9095 -0.4158 0" damping="0" frictionloss="0" range="-0.012962 0.018038" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.077462 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w204" pos="0.07045 -0.032206 0.098009"><joint name="jz204" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697131136 0.00005766929623 -1.933914433e-7" mass="0.0004" fullinertia="2.018751165e-9 2.109130266e-9 2.201811358e-9 -3.817843661e-11 0 0"/><geom name="w204_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c205" pos="0 0 0"><joint name="jc205" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.077782 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r205" pos="0 0 0"><joint name="jr205" type="slide" axis="0.4238 0.9057 0" damping="0" frictionloss="0" range="-0.013282 0.017718" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.077782 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w205" pos="0.032967 0.07045 0.098009"><joint name="jz205" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001693102358 0.0000575729693 0" mass="0.0004" fullinertia="2.01861129e-9 2.10895708e-9 2.201785487e-9 -3.805637891e-11 0 0"/><geom name="w205_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c206" pos="0 0 0"><joint name="jc206" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.078109 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r206" pos="0 0 0"><joint name="jr206" type="slide" axis="-0.9019 0.4318 0" damping="0" frictionloss="0" range="-0.013609 0.017391" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.078109 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w206" pos="-0.07045 0.033731 0.098009"><joint name="jz206" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697552278 0.00005760786709 0" mass="0.0004" fullinertia="2.018635506e-9 2.109013277e-9 2.201866453e-9 -3.814496487e-11 0 0"/><geom name="w206_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c207" pos="0 0 0"><joint name="jc207" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.078444 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r207" pos="0 0 0"><joint name="jr207" type="slide" axis="-0.4398 -0.8981 0" damping="0" frictionloss="0" range="-0.013944 0.017056" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.078444 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w207" pos="-0.034499 -0.07045 0.098009"><joint name="jz207" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001695943248 0.00005752279852 1.933891777e-7" mass="0.0004" fullinertia="2.018769842e-9 2.109107556e-9 2.201836338e-9 -3.803090588e-11 0 0"/><geom name="w207_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c208" pos="0 0 0"><joint name="jc208" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.078786 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r208" pos="0 0 0"><joint name="jr208" type="slide" axis="0.8942 -0.4477 0" damping="0" frictionloss="0" range="-0.014286 0.016714" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.078786 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w208" pos="0.07045 -0.035271 0.098009"><joint name="jz208" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188009 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697788318 0.00005761325822 2.213450341e-7" mass="0.0004" fullinertia="2.018826829e-9 2.109223775e-9 2.201810163e-9 -3.814806979e-11 0 0"/><geom name="w208_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c211" pos="0 0 0"><joint name="jc211" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.07986 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r211" pos="0 0 0"><joint name="jr211" type="slide" axis="-0.4709 -0.8822 0" damping="0" frictionloss="0" range="-0.01536 0.01564" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.07986 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w211" pos="-0.037608 -0.07045 0.09801"><joint name="jz211" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.18801 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696955394 0.00005748595284 0" mass="0.0004" fullinertia="2.018613304e-9 2.108965352e-9 2.201922646e-9 -3.805520487e-11 0 0"/><geom name="w211_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c212" pos="0 0 0"><joint name="jc212" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080233 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r212" pos="0 0 0"><joint name="jr212" type="slide" axis="0.8781 -0.4785 0" damping="0" frictionloss="0" range="-0.015733 0.015267" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080233 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w212" pos="0.07045 -0.038394 0.09801"><joint name="jz212" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.18801 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696760003 0.00005745344763 0" mass="0.0004" fullinertia="2.018565507e-9 2.108949997e-9 2.201897431e-9 -3.813492895e-11 0 0"/><geom name="w212_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c213" pos="0 0 0"><joint name="jc213" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.080614 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r213" pos="0 0 0"><joint name="jr213" type="slide" axis="0.4861 0.8739 0" damping="0" frictionloss="0" range="-0.016114 0.014886" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.080614 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w213" pos="0.039184 0.07045 0.09801"><joint name="jz213" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.18801 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169755862 0.00005752660403 1.933903869e-7" mass="0.0004" fullinertia="2.018754947e-9 2.109124059e-9 2.201861751e-9 -3.803151302e-11 0 0"/><geom name="w213_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c214" pos="0 0 0"><joint name="jc214" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.081003 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r214" pos="0 0 0"><joint name="jr214" type="slide" axis="-0.8697 0.4935 0" damping="0" frictionloss="0" range="-0.016503 0.014497" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.081003 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w214" pos="-0.07045 0.039978 0.09801"><joint name="jz214" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.18801 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696726658 0.00005728710764 2.213433715e-7" mass="0.0004" fullinertia="2.01873176e-9 2.109153205e-9 2.2017539e-9 -3.809611121e-11 0 0"/><geom name="w214_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c215" pos="0 0 0"><joint name="jc215" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.081399 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r215" pos="0 0 0"><joint name="jr215" type="slide" axis="-0.5009 -0.8655 0" damping="0" frictionloss="0" range="-0.016899 0.014101" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.081399 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w215" pos="-0.040775 -0.07045 0.098011"><joint name="jz215" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188011 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697607277 0.00005752836072 -2.213288212e-7" mass="0.0004" fullinertia="2.018789511e-9 2.109160912e-9 2.20184998e-9 -3.803242036e-11 0 0"/><geom name="w215_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c216" pos="0 0 0"><joint name="jc216" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.081803 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r216" pos="0 0 0"><joint name="jr216" type="slide" axis="0.8612 -0.5082 0" damping="0" frictionloss="0" range="-0.017303 0.013697" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.081803 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w216" pos="0.07045 -0.041576 0.098011"><joint name="jz216" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188011 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697501469 0.00005775927937 -1.93396006e-7" mass="0.0004" fullinertia="2.018663188e-9 2.109136664e-9 2.201699404e-9 -3.812698987e-11 0 0"/><geom name="w216_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c217" pos="0 0 0"><joint name="jc217" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082215 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r217" pos="0 0 0"><joint name="jr217" type="slide" axis="0.5155 0.8569 0" damping="0" frictionloss="0" range="-0.017715 0.013285" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082215 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w217" pos="0.04238 0.07045 0.098011"><joint name="jz217" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188011 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001697399312 0.00005752356035 0" mass="0.0004" fullinertia="2.018601797e-9 2.108956088e-9 2.20190661e-9 -3.803003326e-11 0 0"/><geom name="w217_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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<body name="c218" pos="0 0 0"><joint name="jc218" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.082634 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r218" pos="0 0 0"><joint name="jr218" type="slide" axis="-0.8526 0.5226 0" damping="0" frictionloss="0" range="-0.018134 0.012866" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.082634 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w218" pos="-0.07045 0.043188 0.098011"><joint name="jz218" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188011 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.000169694382 0.00005766566056 0" mass="0.0004" fullinertia="2.018594423e-9 2.108956637e-9 2.201855875e-9 -3.817623734e-11 0 0"/><geom name="w218_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
</body>
</body>
<body name="c219" pos="0 0 0"><joint name="jc219" type="hinge" axis="0 0 1" damping="0" frictionloss="0"/><inertial pos="0.083061 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="r219" pos="0 0 0"><joint name="jr219" type="slide" axis="-0.5297 -0.8482 0" damping="0" frictionloss="0" range="-0.018561 0.012439" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.083061 0 -0.6" mass="0.00002" fullinertia="1.316666667e-12 2.5e-12 1.316666667e-12 0 0 0"/><body name="w219" pos="-0.044 -0.07045 0.098011"><joint name="jz219" type="slide" axis="0 0 1" damping="0" frictionloss="0" range="-0.188011 0.03" solreflimit="0.002 1" solimplimit="0.95 0.99 0.001"/><inertial pos="0.0001696770141 0.00005752073493 1.934008048e-7" mass="0.0004" fullinertia="2.018733151e-9 2.109117002e-9 2.201864944e-9 -3.808235106e-11 0 0"/><geom name="w219_h0" type="capsule" fromto="0 0 -0.00005 0 0 0.00005" size="0.0045" contype="8" conaffinity="16" condim="3" friction="0 0.005 0.0001" solref="0.002 1" solimp="0.95 0.99 0.0005" margin="0" group="2" mass="0"/></body>
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</body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="drive" joint="j_w" gear="1" ctrlrange="-0.001 0.001"/></actuator>
</mujoco>
