Loading files
This file is pinned to the selected release. Download the original to open it in your design tool.
e19a62fd1This file is pinned to the selected release. Download the original to open it in your design tool.
<!-- Copyright 2026 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Trash bag">
<!-- A fixed-length drawstring (tendon limited to its rest length) threaded through rim
eyelets, with grab bights at two opposite holes. Pull a bight out and
the string slides through the eyelets, extracting length from the rim loop: the mouth
closes. Slide pull (the hand position) up to close the bag around the contents. -->
<option timestep="0.002" solver="CG" tolerance="1e-6" iterations="400" integrator="implicitfast"/>
<visual>
<headlight ambient=".3 .3 .3"/>
</visual>
<asset>
<texture type="2d" name="plane" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .15 .2"
width="512" height="512"/>
<material name="plane" texture="plane" texrepeat="4 4" reflectance=".1"/>
<material name="bin" rgba=".07 .07 .075 1" specular=".25" shininess=".2"/>
</asset>
<worldbody>
<light pos="0 -.5 1.5" dir="0 .3 -1"/>
<light pos=".5 .5 1.5" dir="-.3 -.3 -1"/>
<geom type="plane" size="2 2 .05" material="plane"/>
<body name="v0" pos="0.08800 0.00000 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v1" pos="0.08369 0.02719 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v2" pos="0.07119 0.05173 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v3" pos="0.05173 0.07119 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v4" pos="0.02719 0.08369 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v5" pos="0.00000 0.08800 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v6" pos="-0.02719 0.08369 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v7" pos="-0.05173 0.07119 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v8" pos="-0.07119 0.05173 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v9" pos="-0.08369 0.02719 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v10" pos="-0.08800 0.00000 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v11" pos="-0.08369 -0.02719 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v12" pos="-0.07119 -0.05173 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v13" pos="-0.05173 -0.07119 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v14" pos="-0.02719 -0.08369 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v15" pos="-0.00000 -0.08800 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v16" pos="0.02719 -0.08369 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v17" pos="0.05173 -0.07119 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v18" pos="0.07119 -0.05173 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v19" pos="0.08369 -0.02719 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v20" pos="0.09033 0.00000 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v21" pos="0.08591 0.02791 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v22" pos="0.07308 0.05310 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v23" pos="0.05310 0.07308 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v24" pos="0.02791 0.08591 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v25" pos="0.00000 0.09033 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v26" pos="-0.02791 0.08591 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v27" pos="-0.05310 0.07308 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v28" pos="-0.07308 0.05310 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v29" pos="-0.08591 0.02791 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v30" pos="-0.09033 0.00000 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v31" pos="-0.08591 -0.02791 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v32" pos="-0.07308 -0.05310 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v33" pos="-0.05310 -0.07308 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v34" pos="-0.02791 -0.08591 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v35" pos="-0.00000 -0.09033 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v36" pos="0.02791 -0.08591 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v37" pos="0.05310 -0.07308 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v38" pos="0.07308 -0.05310 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v39" pos="0.08591 -0.02791 0.04167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v40" pos="0.09267 0.00000 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v41" pos="0.08813 0.02864 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v42" pos="0.07497 0.05447 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v43" pos="0.05447 0.07497 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v44" pos="0.02864 0.08813 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v45" pos="0.00000 0.09267 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v46" pos="-0.02864 0.08813 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v47" pos="-0.05447 0.07497 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v48" pos="-0.07497 0.05447 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v49" pos="-0.08813 0.02864 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v50" pos="-0.09267 0.00000 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v51" pos="-0.08813 -0.02864 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v52" pos="-0.07497 -0.05447 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v53" pos="-0.05447 -0.07497 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v54" pos="-0.02864 -0.08813 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v55" pos="-0.00000 -0.09267 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v56" pos="0.02864 -0.08813 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v57" pos="0.05447 -0.07497 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v58" pos="0.07497 -0.05447 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v59" pos="0.08813 -0.02864 0.06333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v60" pos="0.09500 0.00000 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v61" pos="0.09035 0.02936 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v62" pos="0.07686 0.05584 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v63" pos="0.05584 0.07686 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v64" pos="0.02936 0.09035 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v65" pos="0.00000 0.09500 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v66" pos="-0.02936 0.09035 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v67" pos="-0.05584 0.07686 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v68" pos="-0.07686 0.05584 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v69" pos="-0.09035 0.02936 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v70" pos="-0.09500 0.00000 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v71" pos="-0.09035 -0.02936 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v72" pos="-0.07686 -0.05584 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v73" pos="-0.05584 -0.07686 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v74" pos="-0.02936 -0.09035 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v75" pos="-0.00000 -0.09500 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v76" pos="0.02936 -0.09035 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v77" pos="0.05584 -0.07686 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v78" pos="0.07686 -0.05584 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v79" pos="0.09035 -0.02936 0.08500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v80" pos="0.09733 0.00000 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v81" pos="0.09257 0.03008 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v82" pos="0.07874 0.05721 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v83" pos="0.05721 0.07874 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v84" pos="0.03008 0.09257 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v85" pos="0.00000 0.09733 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v86" pos="-0.03008 0.09257 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v87" pos="-0.05721 0.07874 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v88" pos="-0.07874 0.05721 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v89" pos="-0.09257 0.03008 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v90" pos="-0.09733 0.00000 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v91" pos="-0.09257 -0.03008 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v92" pos="-0.07874 -0.05721 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v93" pos="-0.05721 -0.07874 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v94" pos="-0.03008 -0.09257 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v95" pos="-0.00000 -0.09733 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v96" pos="0.03008 -0.09257 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v97" pos="0.05721 -0.07874 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v98" pos="0.07874 -0.05721 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v99" pos="0.09257 -0.03008 0.10667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v100" pos="0.09967 0.00000 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v101" pos="0.09479 0.03080 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v102" pos="0.08063 0.05858 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v103" pos="0.05858 0.08063 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v104" pos="0.03080 0.09479 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v105" pos="0.00000 0.09967 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v106" pos="-0.03080 0.09479 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v107" pos="-0.05858 0.08063 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v108" pos="-0.08063 0.05858 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v109" pos="-0.09479 0.03080 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v110" pos="-0.09967 0.00000 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v111" pos="-0.09479 -0.03080 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v112" pos="-0.08063 -0.05858 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v113" pos="-0.05858 -0.08063 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v114" pos="-0.03080 -0.09479 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v115" pos="-0.00000 -0.09967 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v116" pos="0.03080 -0.09479 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v117" pos="0.05858 -0.08063 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v118" pos="0.08063 -0.05858 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v119" pos="0.09479 -0.03080 0.12833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v120" pos="0.10200 0.00000 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v121" pos="0.09701 0.03152 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v122" pos="0.08252 0.05995 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v123" pos="0.05995 0.08252 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v124" pos="0.03152 0.09701 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v125" pos="0.00000 0.10200 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v126" pos="-0.03152 0.09701 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v127" pos="-0.05995 0.08252 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v128" pos="-0.08252 0.05995 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v129" pos="-0.09701 0.03152 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v130" pos="-0.10200 0.00000 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v131" pos="-0.09701 -0.03152 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v132" pos="-0.08252 -0.05995 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v133" pos="-0.05995 -0.08252 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v134" pos="-0.03152 -0.09701 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v135" pos="-0.00000 -0.10200 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v136" pos="0.03152 -0.09701 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v137" pos="0.05995 -0.08252 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v138" pos="0.08252 -0.05995 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v139" pos="0.09701 -0.03152 0.15000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v140" pos="0.10433 0.00000 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v141" pos="0.09923 0.03224 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v142" pos="0.08441 0.06133 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v143" pos="0.06133 0.08441 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v144" pos="0.03224 0.09923 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v145" pos="0.00000 0.10433 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v146" pos="-0.03224 0.09923 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v147" pos="-0.06133 0.08441 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v148" pos="-0.08441 0.06133 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v149" pos="-0.09923 0.03224 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v150" pos="-0.10433 0.00000 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v151" pos="-0.09923 -0.03224 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v152" pos="-0.08441 -0.06133 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v153" pos="-0.06133 -0.08441 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v154" pos="-0.03224 -0.09923 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v155" pos="-0.00000 -0.10433 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v156" pos="0.03224 -0.09923 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v157" pos="0.06133 -0.08441 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v158" pos="0.08441 -0.06133 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v159" pos="0.09923 -0.03224 0.17167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v160" pos="0.10667 0.00000 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v161" pos="0.10145 0.03296 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v162" pos="0.08630 0.06270 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v163" pos="0.06270 0.08630 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v164" pos="0.03296 0.10145 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v165" pos="0.00000 0.10667 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v166" pos="-0.03296 0.10145 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v167" pos="-0.06270 0.08630 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v168" pos="-0.08630 0.06270 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v169" pos="-0.10145 0.03296 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v170" pos="-0.10667 0.00000 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v171" pos="-0.10145 -0.03296 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v172" pos="-0.08630 -0.06270 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v173" pos="-0.06270 -0.08630 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v174" pos="-0.03296 -0.10145 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v175" pos="-0.00000 -0.10667 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v176" pos="0.03296 -0.10145 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v177" pos="0.06270 -0.08630 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v178" pos="0.08630 -0.06270 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v179" pos="0.10145 -0.03296 0.19333">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v180" pos="0.10900 0.00000 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v181" pos="0.10367 0.03368 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v182" pos="0.08818 0.06407 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v183" pos="0.06407 0.08818 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v184" pos="0.03368 0.10367 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v185" pos="0.00000 0.10900 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v186" pos="-0.03368 0.10367 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v187" pos="-0.06407 0.08818 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v188" pos="-0.08818 0.06407 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v189" pos="-0.10367 0.03368 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v190" pos="-0.10900 0.00000 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v191" pos="-0.10367 -0.03368 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v192" pos="-0.08818 -0.06407 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v193" pos="-0.06407 -0.08818 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v194" pos="-0.03368 -0.10367 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v195" pos="-0.00000 -0.10900 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v196" pos="0.03368 -0.10367 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v197" pos="0.06407 -0.08818 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v198" pos="0.08818 -0.06407 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v199" pos="0.10367 -0.03368 0.21500">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v200" pos="0.11133 0.00000 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v201" pos="0.10588 0.03440 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v202" pos="0.09007 0.06544 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v203" pos="0.06544 0.09007 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v204" pos="0.03440 0.10588 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v205" pos="0.00000 0.11133 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v206" pos="-0.03440 0.10588 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v207" pos="-0.06544 0.09007 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v208" pos="-0.09007 0.06544 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v209" pos="-0.10588 0.03440 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v210" pos="-0.11133 0.00000 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v211" pos="-0.10588 -0.03440 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v212" pos="-0.09007 -0.06544 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v213" pos="-0.06544 -0.09007 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v214" pos="-0.03440 -0.10588 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v215" pos="-0.00000 -0.11133 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v216" pos="0.03440 -0.10588 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v217" pos="0.06544 -0.09007 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v218" pos="0.09007 -0.06544 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v219" pos="0.10588 -0.03440 0.23667">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v220" pos="0.11367 0.00000 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v221" pos="0.10810 0.03512 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v222" pos="0.09196 0.06681 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v223" pos="0.06681 0.09196 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v224" pos="0.03512 0.10810 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v225" pos="0.00000 0.11367 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v226" pos="-0.03512 0.10810 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v227" pos="-0.06681 0.09196 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v228" pos="-0.09196 0.06681 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v229" pos="-0.10810 0.03512 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v230" pos="-0.11367 0.00000 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v231" pos="-0.10810 -0.03512 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v232" pos="-0.09196 -0.06681 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v233" pos="-0.06681 -0.09196 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v234" pos="-0.03512 -0.10810 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v235" pos="-0.00000 -0.11367 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v236" pos="0.03512 -0.10810 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v237" pos="0.06681 -0.09196 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v238" pos="0.09196 -0.06681 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v239" pos="0.10810 -0.03512 0.25833">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v240" pos="0.11600 0.00000 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v241" pos="0.11032 0.03585 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v242" pos="0.09385 0.06818 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v243" pos="0.06818 0.09385 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v244" pos="0.03585 0.11032 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v245" pos="0.00000 0.11600 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v246" pos="-0.03585 0.11032 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v247" pos="-0.06818 0.09385 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v248" pos="-0.09385 0.06818 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v249" pos="-0.11032 0.03585 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v250" pos="-0.11600 0.00000 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v251" pos="-0.11032 -0.03585 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v252" pos="-0.09385 -0.06818 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v253" pos="-0.06818 -0.09385 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v254" pos="-0.03585 -0.11032 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v255" pos="-0.00000 -0.11600 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v256" pos="0.03585 -0.11032 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v257" pos="0.06818 -0.09385 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v258" pos="0.09385 -0.06818 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v259" pos="0.11032 -0.03585 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v260" pos="0.11814 0.00000 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v261" pos="0.11236 0.03651 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v262" pos="0.09558 0.06944 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v263" pos="0.06944 0.09558 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v264" pos="0.03651 0.11236 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v265" pos="0.00000 0.11814 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v266" pos="-0.03651 0.11236 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v267" pos="-0.06944 0.09558 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v268" pos="-0.09558 0.06944 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v269" pos="-0.11236 0.03651 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v270" pos="-0.11814 0.00000 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v271" pos="-0.11236 -0.03651 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v272" pos="-0.09558 -0.06944 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v273" pos="-0.06944 -0.09558 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v274" pos="-0.03651 -0.11236 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v275" pos="-0.00000 -0.11814 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v276" pos="0.03651 -0.11236 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v277" pos="0.06944 -0.09558 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v278" pos="0.09558 -0.06944 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v279" pos="0.11236 -0.03651 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v280" pos="0.12400 0.00000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v281" pos="0.11793 0.03832 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v282" pos="0.10032 0.07289 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v283" pos="0.07289 0.10032 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v284" pos="0.03832 0.11793 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v285" pos="0.00000 0.12400 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v286" pos="-0.03832 0.11793 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v287" pos="-0.07289 0.10032 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v288" pos="-0.10032 0.07289 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v289" pos="-0.11793 0.03832 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v290" pos="-0.12400 0.00000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v291" pos="-0.11793 -0.03832 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v292" pos="-0.10032 -0.07289 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v293" pos="-0.07289 -0.10032 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v294" pos="-0.03832 -0.11793 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v295" pos="-0.00000 -0.12400 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v296" pos="0.03832 -0.11793 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v297" pos="0.07289 -0.10032 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v298" pos="0.10032 -0.07289 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v299" pos="0.11793 -0.03832 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v300" pos="0.13200 0.00000 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v301" pos="0.12554 0.04079 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v302" pos="0.10679 0.07759 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v303" pos="0.07759 0.10679 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v304" pos="0.04079 0.12554 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v305" pos="0.00000 0.13200 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v306" pos="-0.04079 0.12554 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v307" pos="-0.07759 0.10679 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v308" pos="-0.10679 0.07759 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v309" pos="-0.12554 0.04079 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v310" pos="-0.13200 0.00000 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v311" pos="-0.12554 -0.04079 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v312" pos="-0.10679 -0.07759 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v313" pos="-0.07759 -0.10679 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v314" pos="-0.04079 -0.12554 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v315" pos="-0.00000 -0.13200 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v316" pos="0.04079 -0.12554 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v317" pos="0.07759 -0.10679 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v318" pos="0.10679 -0.07759 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v319" pos="0.12554 -0.04079 0.29600">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v320" pos="0.14000 0.00000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v321" pos="0.13315 0.04326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v322" pos="0.11326 0.08229 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v323" pos="0.08229 0.11326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v324" pos="0.04326 0.13315 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v325" pos="0.00000 0.14000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v326" pos="-0.04326 0.13315 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v327" pos="-0.08229 0.11326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v328" pos="-0.11326 0.08229 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v329" pos="-0.13315 0.04326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v330" pos="-0.14000 0.00000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v331" pos="-0.13315 -0.04326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v332" pos="-0.11326 -0.08229 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v333" pos="-0.08229 -0.11326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v334" pos="-0.04326 -0.13315 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v335" pos="-0.00000 -0.14000 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v336" pos="0.04326 -0.13315 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v337" pos="0.08229 -0.11326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v338" pos="0.11326 -0.08229 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v339" pos="0.13315 -0.04326 0.29386">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v340" pos="0.14586 0.00000 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v341" pos="0.13872 0.04507 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v342" pos="0.11800 0.08573 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v343" pos="0.08573 0.11800 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v344" pos="0.04507 0.13872 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v345" pos="0.00000 0.14586 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v346" pos="-0.04507 0.13872 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v347" pos="-0.08573 0.11800 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v348" pos="-0.11800 0.08573 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v349" pos="-0.13872 0.04507 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v350" pos="-0.14586 0.00000 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v351" pos="-0.13872 -0.04507 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v352" pos="-0.11800 -0.08573 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v353" pos="-0.08573 -0.11800 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v354" pos="-0.04507 -0.13872 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v355" pos="-0.00000 -0.14586 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v356" pos="0.04507 -0.13872 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v357" pos="0.08573 -0.11800 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v358" pos="0.11800 -0.08573 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v359" pos="0.13872 -0.04507 0.28800">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v360" pos="0.14800 0.00000 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v361" pos="0.14076 0.04573 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v362" pos="0.11973 0.08699 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v363" pos="0.08699 0.11973 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v364" pos="0.04573 0.14076 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v365" pos="0.00000 0.14800 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v366" pos="-0.04573 0.14076 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v367" pos="-0.08699 0.11973 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v368" pos="-0.11973 0.08699 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v369" pos="-0.14076 0.04573 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v370" pos="-0.14800 0.00000 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v371" pos="-0.14076 -0.04573 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v372" pos="-0.11973 -0.08699 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v373" pos="-0.08699 -0.11973 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v374" pos="-0.04573 -0.14076 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v375" pos="-0.00000 -0.14800 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v376" pos="0.04573 -0.14076 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v377" pos="0.08699 -0.11973 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v378" pos="0.11973 -0.08699 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v379" pos="0.14076 -0.04573 0.28000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v380" pos="0.14714 0.00000 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v381" pos="0.13993 0.04547 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v382" pos="0.11904 0.08648 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v383" pos="0.08648 0.11904 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v384" pos="0.04547 0.13993 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v385" pos="0.00000 0.14714 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v386" pos="-0.04547 0.13993 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v387" pos="-0.08648 0.11904 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v388" pos="-0.11904 0.08648 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v389" pos="-0.13993 0.04547 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v390" pos="-0.14714 0.00000 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v391" pos="-0.13993 -0.04547 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v392" pos="-0.11904 -0.08648 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v393" pos="-0.08648 -0.11904 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v394" pos="-0.04547 -0.13993 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v395" pos="-0.00000 -0.14714 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v396" pos="0.04547 -0.13993 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v397" pos="0.08648 -0.11904 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v398" pos="0.11904 -0.08648 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v399" pos="0.13993 -0.04547 0.27033">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v400" pos="0.14627 0.00000 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v401" pos="0.13911 0.04520 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v402" pos="0.11834 0.08598 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v403" pos="0.08598 0.11834 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v404" pos="0.04520 0.13911 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v405" pos="0.00000 0.14627 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v406" pos="-0.04520 0.13911 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v407" pos="-0.08598 0.11834 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v408" pos="-0.11834 0.08598 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v409" pos="-0.13911 0.04520 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v410" pos="-0.14627 0.00000 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v411" pos="-0.13911 -0.04520 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v412" pos="-0.11834 -0.08598 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v413" pos="-0.08598 -0.11834 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v414" pos="-0.04520 -0.13911 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v415" pos="-0.00000 -0.14627 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v416" pos="0.04520 -0.13911 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v417" pos="0.08598 -0.11834 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v418" pos="0.11834 -0.08598 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v419" pos="0.13911 -0.04520 0.26067">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v420" pos="0.14541 0.00000 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v421" pos="0.13829 0.04493 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v422" pos="0.11764 0.08547 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v423" pos="0.08547 0.11764 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v424" pos="0.04493 0.13829 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v425" pos="0.00000 0.14541 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v426" pos="-0.04493 0.13829 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v427" pos="-0.08547 0.11764 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v428" pos="-0.11764 0.08547 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v429" pos="-0.13829 0.04493 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v430" pos="-0.14541 0.00000 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v431" pos="-0.13829 -0.04493 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v432" pos="-0.11764 -0.08547 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v433" pos="-0.08547 -0.11764 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v434" pos="-0.04493 -0.13829 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v435" pos="-0.00000 -0.14541 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v436" pos="0.04493 -0.13829 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v437" pos="0.08547 -0.11764 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v438" pos="0.11764 -0.08547 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v439" pos="0.13829 -0.04493 0.25100">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v440" pos="0.14454 0.00000 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v441" pos="0.13747 0.04467 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v442" pos="0.11694 0.08496 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v443" pos="0.08496 0.11694 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v444" pos="0.04467 0.13747 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v445" pos="0.00000 0.14454 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v446" pos="-0.04467 0.13747 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v447" pos="-0.08496 0.11694 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v448" pos="-0.11694 0.08496 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v449" pos="-0.13747 0.04467 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v450" pos="-0.14454 0.00000 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v451" pos="-0.13747 -0.04467 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v452" pos="-0.11694 -0.08496 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v453" pos="-0.08496 -0.11694 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v454" pos="-0.04467 -0.13747 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v455" pos="-0.00000 -0.14454 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v456" pos="0.04467 -0.13747 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v457" pos="0.08496 -0.11694 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v458" pos="0.11694 -0.08496 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v459" pos="0.13747 -0.04467 0.24133">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v460" pos="0.14368 0.00000 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v461" pos="0.13665 0.04440 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v462" pos="0.11624 0.08445 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v463" pos="0.08445 0.11624 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v464" pos="0.04440 0.13665 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v465" pos="0.00000 0.14368 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v466" pos="-0.04440 0.13665 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v467" pos="-0.08445 0.11624 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v468" pos="-0.11624 0.08445 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v469" pos="-0.13665 0.04440 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v470" pos="-0.14368 0.00000 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v471" pos="-0.13665 -0.04440 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v472" pos="-0.11624 -0.08445 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v473" pos="-0.08445 -0.11624 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v474" pos="-0.04440 -0.13665 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v475" pos="-0.00000 -0.14368 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v476" pos="0.04440 -0.13665 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v477" pos="0.08445 -0.11624 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v478" pos="0.11624 -0.08445 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v479" pos="0.13665 -0.04440 0.23167">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="v480" pos="0.14282 0.00000 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim0" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v481" pos="0.13583 0.04413 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim1" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v482" pos="0.11554 0.08395 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim2" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v483" pos="0.08395 0.11554 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim3" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v484" pos="0.04413 0.13583 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim4" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v485" pos="0.00000 0.14282 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim5" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v486" pos="-0.04413 0.13583 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim6" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v487" pos="-0.08395 0.11554 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim7" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v488" pos="-0.11554 0.08395 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim8" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v489" pos="-0.13583 0.04413 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim9" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v490" pos="-0.14282 0.00000 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim10" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v491" pos="-0.13583 -0.04413 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim11" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v492" pos="-0.11554 -0.08395 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim12" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v493" pos="-0.08395 -0.11554 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim13" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v494" pos="-0.04413 -0.13583 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim14" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v495" pos="-0.00000 -0.14282 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim15" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v496" pos="0.04413 -0.13583 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim16" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v497" pos="0.08395 -0.11554 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim17" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v498" pos="0.11554 -0.08395 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim18" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v499" pos="0.13583 -0.04413 0.22200">
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 1 0" damping="0.2" frictionloss="0.05"/>
<joint type="slide" axis="0 0 1" damping="0.2" frictionloss="0.05"/>
<site group="5" name="rim19" size="0.004"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="v500" pos="0.00000 0.00000 0.02000">
<inertial pos="0 0 0" mass="0.0002" diaginertia="1e-9 1e-9 1e-9"/>
<joint type="slide" axis="1 0 0" damping="0.06"/>
<joint type="slide" axis="0 1 0" damping="0.06"/>
<joint type="slide" axis="0 0 1" damping="0.06"/>
</body>
<body name="bin">
<geom type="capsule" size="0.0110" fromto="0.10200 0.00000 -0.00600 0.13264 0.00000 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.10074 0.01596 -0.00600 0.13101 0.02075 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.09701 0.03152 -0.00600 0.12615 0.04099 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.09088 0.04631 -0.00600 0.11819 0.06022 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.08252 0.05995 -0.00600 0.10731 0.07797 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.07212 0.07212 -0.00600 0.09379 0.09379 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.05995 0.08252 -0.00600 0.07797 0.10731 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.04631 0.09088 -0.00600 0.06022 0.11819 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.03152 0.09701 -0.00600 0.04099 0.12615 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.01596 0.10074 -0.00600 0.02075 0.13101 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.00000 0.10200 -0.00600 0.00000 0.13264 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.01596 0.10074 -0.00600 -0.02075 0.13101 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.03152 0.09701 -0.00600 -0.04099 0.12615 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.04631 0.09088 -0.00600 -0.06022 0.11819 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.05995 0.08252 -0.00600 -0.07797 0.10731 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.07212 0.07212 -0.00600 -0.09379 0.09379 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.08252 0.05995 -0.00600 -0.10731 0.07797 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.09088 0.04631 -0.00600 -0.11819 0.06022 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.09701 0.03152 -0.00600 -0.12615 0.04099 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.10074 0.01596 -0.00600 -0.13101 0.02075 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.10200 0.00000 -0.00600 -0.13264 0.00000 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.10074 -0.01596 -0.00600 -0.13101 -0.02075 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.09701 -0.03152 -0.00600 -0.12615 -0.04099 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.09088 -0.04631 -0.00600 -0.11819 -0.06022 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.08252 -0.05995 -0.00600 -0.10731 -0.07797 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.07212 -0.07212 -0.00600 -0.09379 -0.09379 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.05995 -0.08252 -0.00600 -0.07797 -0.10731 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.04631 -0.09088 -0.00600 -0.06022 -0.11819 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.03152 -0.09701 -0.00600 -0.04099 -0.12615 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.01596 -0.10074 -0.00600 -0.02075 -0.13101 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="-0.00000 -0.10200 -0.00600 -0.00000 -0.13264 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.01596 -0.10074 -0.00600 0.02075 -0.13101 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.03152 -0.09701 -0.00600 0.04099 -0.12615 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.04631 -0.09088 -0.00600 0.06022 -0.11819 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.05995 -0.08252 -0.00600 0.07797 -0.10731 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.07212 -0.07212 -0.00600 0.09379 -0.09379 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.08252 -0.05995 -0.00600 0.10731 -0.07797 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.09088 -0.04631 -0.00600 0.11819 -0.06022 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.09701 -0.03152 -0.00600 0.12615 -0.04099 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.0110" fromto="0.10074 -0.01596 -0.00600 0.13101 -0.02075 0.28000"
material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="cylinder" size="0.1120 0.010" pos="0 0 0.008" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.1320 0.0000 0.2800 0.1255 0.0408 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.1255 0.0408 0.2800 0.1068 0.0776 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.1068 0.0776 0.2800 0.0776 0.1068 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.0776 0.1068 0.2800 0.0408 0.1255 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.0408 0.1255 0.2800 0.0000 0.1320 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.0000 0.1320 0.2800 -0.0408 0.1255 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.0408 0.1255 0.2800 -0.0776 0.1068 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.0776 0.1068 0.2800 -0.1068 0.0776 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.1068 0.0776 0.2800 -0.1255 0.0408 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.1255 0.0408 0.2800 -0.1320 0.0000 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.1320 0.0000 0.2800 -0.1255 -0.0408 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.1255 -0.0408 0.2800 -0.1068 -0.0776 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.1068 -0.0776 0.2800 -0.0776 -0.1068 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.0776 -0.1068 0.2800 -0.0408 -0.1255 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.0408 -0.1255 0.2800 -0.0000 -0.1320 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="-0.0000 -0.1320 0.2800 0.0408 -0.1255 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.0408 -0.1255 0.2800 0.0776 -0.1068 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.0776 -0.1068 0.2800 0.1068 -0.0776 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.1068 -0.0776 0.2800 0.1255 -0.0408 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
<geom type="capsule" size="0.009" fromto="0.1255 -0.0408 0.2800 0.1320 -0.0000 0.2800" material="bin" contype="3" conaffinity="3" priority="2" solref="0.006 1" solimp=".99 .999 .001" friction="0.4 .005 .0001"/>
</body>
<body pos="0.041 0.000 0.060">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".8 .3 .2 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body pos="-0.020 0.035 0.060">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".2 .5 .8 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body pos="-0.020 -0.035 0.060">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".9 .7 .2 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body pos="0.000 0.000 0.125">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".3 .7 .4 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body pos="0.040 0.030 0.185">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".7 .3 .7 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body pos="-0.040 -0.010 0.190">
<freejoint/>
<geom type="sphere" size="0.035" mass="0.25" rgba=".9 .5 .3 1" condim="6" friction="1 0.005 0.0001"/>
</body>
<body name="beadA" pos="0.18272 0.02894 0.22200">
<joint name="pullA" type="slide" axis="-0.33781 -0.05350 0.93969" damping="1"/>
<inertial pos="0 0 0" mass="0.04" diaginertia="1e-6 1e-6 1e-6"/>
<site group="5" name="bightA" size="0.003" rgba=".2 .2 .2 1"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
<body name="beadB" pos="-0.18272 -0.02894 0.22200">
<joint name="pullB" type="slide" axis="0.33781 0.05350 0.93969" damping="1"/>
<inertial pos="0 0 0" mass="0.04" diaginertia="1e-6 1e-6 1e-6"/>
<site group="5" name="bightB" size="0.003" rgba=".2 .2 .2 1"/>
<geom type="sphere" size="0.004" mass="0" group="5" rgba=".15 .35 .9 1"
contype="4" conaffinity="4" condim="3" solref="0.01 20" solimp=".9 .95 .001"/>
</body>
</worldbody>
<deformable>
<flex name="string" dim="1" radius="0.003" rgba=".15 .35 .9 1"
body="v480 beadA v481 v482 v483 v484 v485 v486 v487 v488 v489 v490 beadB v491 v492 v493 v494 v495 v496 v497 v498 v499"
vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
element="0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 0">
<contact contype="2" conaffinity="2" selfcollide="none" internal="false"
priority="3" condim="3" friction="0.05 .005 .0001"
solref="0.006 1" solimp=".99 .999 .001"/>
</flex>
<flex name="bag" dim="2" radius="0.002" rgba=".93 .95 .97 .45"
body="v0 v1 v2 v3 v4 v5 v6 v7 v8 v9 v10 v11 v12 v13 v14 v15 v16 v17 v18 v19 v20 v21 v22 v23 v24 v25 v26 v27 v28 v29 v30 v31 v32 v33 v34 v35 v36 v37 v38 v39 v40 v41 v42 v43 v44 v45 v46 v47 v48 v49 v50 v51 v52 v53 v54 v55 v56 v57 v58 v59 v60 v61 v62 v63 v64 v65 v66 v67 v68 v69 v70 v71 v72 v73 v74 v75 v76 v77 v78 v79 v80 v81 v82 v83 v84 v85 v86 v87 v88 v89 v90 v91 v92 v93 v94 v95 v96 v97 v98 v99 v100 v101 v102 v103 v104 v105 v106 v107 v108 v109 v110 v111 v112 v113 v114 v115 v116 v117 v118 v119 v120 v121 v122 v123 v124 v125 v126 v127 v128 v129 v130 v131 v132 v133 v134 v135 v136 v137 v138 v139 v140 v141 v142 v143 v144 v145 v146 v147 v148 v149 v150 v151 v152 v153 v154 v155 v156 v157 v158 v159 v160 v161 v162 v163 v164 v165 v166 v167 v168 v169 v170 v171 v172 v173 v174 v175 v176 v177 v178 v179 v180 v181 v182 v183 v184 v185 v186 v187 v188 v189 v190 v191 v192 v193 v194 v195 v196 v197 v198 v199 v200 v201 v202 v203 v204 v205 v206 v207 v208 v209 v210 v211 v212 v213 v214 v215 v216 v217 v218 v219 v220 v221 v222 v223 v224 v225 v226 v227 v228 v229 v230 v231 v232 v233 v234 v235 v236 v237 v238 v239 v240 v241 v242 v243 v244 v245 v246 v247 v248 v249 v250 v251 v252 v253 v254 v255 v256 v257 v258 v259 v260 v261 v262 v263 v264 v265 v266 v267 v268 v269 v270 v271 v272 v273 v274 v275 v276 v277 v278 v279 v280 v281 v282 v283 v284 v285 v286 v287 v288 v289 v290 v291 v292 v293 v294 v295 v296 v297 v298 v299 v300 v301 v302 v303 v304 v305 v306 v307 v308 v309 v310 v311 v312 v313 v314 v315 v316 v317 v318 v319 v320 v321 v322 v323 v324 v325 v326 v327 v328 v329 v330 v331 v332 v333 v334 v335 v336 v337 v338 v339 v340 v341 v342 v343 v344 v345 v346 v347 v348 v349 v350 v351 v352 v353 v354 v355 v356 v357 v358 v359 v360 v361 v362 v363 v364 v365 v366 v367 v368 v369 v370 v371 v372 v373 v374 v375 v376 v377 v378 v379 v380 v381 v382 v383 v384 v385 v386 v387 v388 v389 v390 v391 v392 v393 v394 v395 v396 v397 v398 v399 v400 v401 v402 v403 v404 v405 v406 v407 v408 v409 v410 v411 v412 v413 v414 v415 v416 v417 v418 v419 v420 v421 v422 v423 v424 v425 v426 v427 v428 v429 v430 v431 v432 v433 v434 v435 v436 v437 v438 v439 v440 v441 v442 v443 v444 v445 v446 v447 v448 v449 v450 v451 v452 v453 v454 v455 v456 v457 v458 v459 v460 v461 v462 v463 v464 v465 v466 v467 v468 v469 v470 v471 v472 v473 v474 v475 v476 v477 v478 v479 v480 v481 v482 v483 v484 v485 v486 v487 v488 v489 v490 v491 v492 v493 v494 v495 v496 v497 v498 v499 v500"
vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
element="0 1 21 0 21 20 1 2 22 1 22 21 2 3 23 2 23 22 3 4 24 3 24 23 4 5 25 4 25 24 5 6 26 5 26 25 6 7 27 6 27 26 7 8 28 7 28 27 8 9 29 8 29 28 9 10 30 9 30 29 10 11 31 10 31 30 11 12 32 11 32 31 12 13 33 12 33 32 13 14 34 13 34 33 14 15 35 14 35 34 15 16 36 15 36 35 16 17 37 16 37 36 17 18 38 17 38 37 18 19 39 18 39 38 19 0 20 19 20 39 20 21 41 20 41 40 21 22 42 21 42 41 22 23 43 22 43 42 23 24 44 23 44 43 24 25 45 24 45 44 25 26 46 25 46 45 26 27 47 26 47 46 27 28 48 27 48 47 28 29 49 28 49 48 29 30 50 29 50 49 30 31 51 30 51 50 31 32 52 31 52 51 32 33 53 32 53 52 33 34 54 33 54 53 34 35 55 34 55 54 35 36 56 35 56 55 36 37 57 36 57 56 37 38 58 37 58 57 38 39 59 38 59 58 39 20 40 39 40 59 40 41 61 40 61 60 41 42 62 41 62 61 42 43 63 42 63 62 43 44 64 43 64 63 44 45 65 44 65 64 45 46 66 45 66 65 46 47 67 46 67 66 47 48 68 47 68 67 48 49 69 48 69 68 49 50 70 49 70 69 50 51 71 50 71 70 51 52 72 51 72 71 52 53 73 52 73 72 53 54 74 53 74 73 54 55 75 54 75 74 55 56 76 55 76 75 56 57 77 56 77 76 57 58 78 57 78 77 58 59 79 58 79 78 59 40 60 59 60 79 60 61 81 60 81 80 61 62 82 61 82 81 62 63 83 62 83 82 63 64 84 63 84 83 64 65 85 64 85 84 65 66 86 65 86 85 66 67 87 66 87 86 67 68 88 67 88 87 68 69 89 68 89 88 69 70 90 69 90 89 70 71 91 70 91 90 71 72 92 71 92 91 72 73 93 72 93 92 73 74 94 73 94 93 74 75 95 74 95 94 75 76 96 75 96 95 76 77 97 76 97 96 77 78 98 77 98 97 78 79 99 78 99 98 79 60 80 79 80 99 80 81 101 80 101 100 81 82 102 81 102 101 82 83 103 82 103 102 83 84 104 83 104 103 84 85 105 84 105 104 85 86 106 85 106 105 86 87 107 86 107 106 87 88 108 87 108 107 88 89 109 88 109 108 89 90 110 89 110 109 90 91 111 90 111 110 91 92 112 91 112 111 92 93 113 92 113 112 93 94 114 93 114 113 94 95 115 94 115 114 95 96 116 95 116 115 96 97 117 96 117 116 97 98 118 97 118 117 98 99 119 98 119 118 99 80 100 99 100 119 100 101 121 100 121 120 101 102 122 101 122 121 102 103 123 102 123 122 103 104 124 103 124 123 104 105 125 104 125 124 105 106 126 105 126 125 106 107 127 106 127 126 107 108 128 107 128 127 108 109 129 108 129 128 109 110 130 109 130 129 110 111 131 110 131 130 111 112 132 111 132 131 112 113 133 112 133 132 113 114 134 113 134 133 114 115 135 114 135 134 115 116 136 115 136 135 116 117 137 116 137 136 117 118 138 117 138 137 118 119 139 118 139 138 119 100 120 119 120 139 120 121 141 120 141 140 121 122 142 121 142 141 122 123 143 122 143 142 123 124 144 123 144 143 124 125 145 124 145 144 125 126 146 125 146 145 126 127 147 126 147 146 127 128 148 127 148 147 128 129 149 128 149 148 129 130 150 129 150 149 130 131 151 130 151 150 131 132 152 131 152 151 132 133 153 132 153 152 133 134 154 133 154 153 134 135 155 134 155 154 135 136 156 135 156 155 136 137 157 136 157 156 137 138 158 137 158 157 138 139 159 138 159 158 139 120 140 139 140 159 140 141 161 140 161 160 141 142 162 141 162 161 142 143 163 142 163 162 143 144 164 143 164 163 144 145 165 144 165 164 145 146 166 145 166 165 146 147 167 146 167 166 147 148 168 147 168 167 148 149 169 148 169 168 149 150 170 149 170 169 150 151 171 150 171 170 151 152 172 151 172 171 152 153 173 152 173 172 153 154 174 153 174 173 154 155 175 154 175 174 155 156 176 155 176 175 156 157 177 156 177 176 157 158 178 157 178 177 158 159 179 158 179 178 159 140 160 159 160 179 160 161 181 160 181 180 161 162 182 161 182 181 162 163 183 162 183 182 163 164 184 163 184 183 164 165 185 164 185 184 165 166 186 165 186 185 166 167 187 166 187 186 167 168 188 167 188 187 168 169 189 168 189 188 169 170 190 169 190 189 170 171 191 170 191 190 171 172 192 171 192 191 172 173 193 172 193 192 173 174 194 173 194 193 174 175 195 174 195 194 175 176 196 175 196 195 176 177 197 176 197 196 177 178 198 177 198 197 178 179 199 178 199 198 179 160 180 179 180 199 180 181 201 180 201 200 181 182 202 181 202 201 182 183 203 182 203 202 183 184 204 183 204 203 184 185 205 184 205 204 185 186 206 185 206 205 186 187 207 186 207 206 187 188 208 187 208 207 188 189 209 188 209 208 189 190 210 189 210 209 190 191 211 190 211 210 191 192 212 191 212 211 192 193 213 192 213 212 193 194 214 193 214 213 194 195 215 194 215 214 195 196 216 195 216 215 196 197 217 196 217 216 197 198 218 197 218 217 198 199 219 198 219 218 199 180 200 199 200 219 200 201 221 200 221 220 201 202 222 201 222 221 202 203 223 202 223 222 203 204 224 203 224 223 204 205 225 204 225 224 205 206 226 205 226 225 206 207 227 206 227 226 207 208 228 207 228 227 208 209 229 208 229 228 209 210 230 209 230 229 210 211 231 210 231 230 211 212 232 211 232 231 212 213 233 212 233 232 213 214 234 213 234 233 214 215 235 214 235 234 215 216 236 215 236 235 216 217 237 216 237 236 217 218 238 217 238 237 218 219 239 218 239 238 219 200 220 219 220 239 220 221 241 220 241 240 221 222 242 221 242 241 222 223 243 222 243 242 223 224 244 223 244 243 224 225 245 224 245 244 225 226 246 225 246 245 226 227 247 226 247 246 227 228 248 227 248 247 228 229 249 228 249 248 229 230 250 229 250 249 230 231 251 230 251 250 231 232 252 231 252 251 232 233 253 232 253 252 233 234 254 233 254 253 234 235 255 234 255 254 235 236 256 235 256 255 236 237 257 236 257 256 237 238 258 237 258 257 238 239 259 238 259 258 239 220 240 239 240 259 240 241 261 240 261 260 241 242 262 241 262 261 242 243 263 242 263 262 243 244 264 243 264 263 244 245 265 244 265 264 245 246 266 245 266 265 246 247 267 246 267 266 247 248 268 247 268 267 248 249 269 248 269 268 249 250 270 249 270 269 250 251 271 250 271 270 251 252 272 251 272 271 252 253 273 252 273 272 253 254 274 253 274 273 254 255 275 254 275 274 255 256 276 255 276 275 256 257 277 256 277 276 257 258 278 257 278 277 258 259 279 258 279 278 259 240 260 259 260 279 260 261 281 260 281 280 261 262 282 261 282 281 262 263 283 262 283 282 263 264 284 263 284 283 264 265 285 264 285 284 265 266 286 265 286 285 266 267 287 266 287 286 267 268 288 267 288 287 268 269 289 268 289 288 269 270 290 269 290 289 270 271 291 270 291 290 271 272 292 271 292 291 272 273 293 272 293 292 273 274 294 273 294 293 274 275 295 274 295 294 275 276 296 275 296 295 276 277 297 276 297 296 277 278 298 277 298 297 278 279 299 278 299 298 279 260 280 279 280 299 280 281 301 280 301 300 281 282 302 281 302 301 282 283 303 282 303 302 283 284 304 283 304 303 284 285 305 284 305 304 285 286 306 285 306 305 286 287 307 286 307 306 287 288 308 287 308 307 288 289 309 288 309 308 289 290 310 289 310 309 290 291 311 290 311 310 291 292 312 291 312 311 292 293 313 292 313 312 293 294 314 293 314 313 294 295 315 294 315 314 295 296 316 295 316 315 296 297 317 296 317 316 297 298 318 297 318 317 298 299 319 298 319 318 299 280 300 299 300 319 300 301 321 300 321 320 301 302 322 301 322 321 302 303 323 302 323 322 303 304 324 303 324 323 304 305 325 304 325 324 305 306 326 305 326 325 306 307 327 306 327 326 307 308 328 307 328 327 308 309 329 308 329 328 309 310 330 309 330 329 310 311 331 310 331 330 311 312 332 311 332 331 312 313 333 312 333 332 313 314 334 313 334 333 314 315 335 314 335 334 315 316 336 315 336 335 316 317 337 316 337 336 317 318 338 317 338 337 318 319 339 318 339 338 319 300 320 319 320 339 320 321 341 320 341 340 321 322 342 321 342 341 322 323 343 322 343 342 323 324 344 323 344 343 324 325 345 324 345 344 325 326 346 325 346 345 326 327 347 326 347 346 327 328 348 327 348 347 328 329 349 328 349 348 329 330 350 329 350 349 330 331 351 330 351 350 331 332 352 331 352 351 332 333 353 332 353 352 333 334 354 333 354 353 334 335 355 334 355 354 335 336 356 335 356 355 336 337 357 336 357 356 337 338 358 337 358 357 338 339 359 338 359 358 339 320 340 339 340 359 340 341 361 340 361 360 341 342 362 341 362 361 342 343 363 342 363 362 343 344 364 343 364 363 344 345 365 344 365 364 345 346 366 345 366 365 346 347 367 346 367 366 347 348 368 347 368 367 348 349 369 348 369 368 349 350 370 349 370 369 350 351 371 350 371 370 351 352 372 351 372 371 352 353 373 352 373 372 353 354 374 353 374 373 354 355 375 354 375 374 355 356 376 355 376 375 356 357 377 356 377 376 357 358 378 357 378 377 358 359 379 358 379 378 359 340 360 359 360 379 360 361 381 360 381 380 361 362 382 361 382 381 362 363 383 362 383 382 363 364 384 363 384 383 364 365 385 364 385 384 365 366 386 365 386 385 366 367 387 366 387 386 367 368 388 367 388 387 368 369 389 368 389 388 369 370 390 369 390 389 370 371 391 370 391 390 371 372 392 371 392 391 372 373 393 372 393 392 373 374 394 373 394 393 374 375 395 374 395 394 375 376 396 375 396 395 376 377 397 376 397 396 377 378 398 377 398 397 378 379 399 378 399 398 379 360 380 379 380 399 380 381 401 380 401 400 381 382 402 381 402 401 382 383 403 382 403 402 383 384 404 383 404 403 384 385 405 384 405 404 385 386 406 385 406 405 386 387 407 386 407 406 387 388 408 387 408 407 388 389 409 388 409 408 389 390 410 389 410 409 390 391 411 390 411 410 391 392 412 391 412 411 392 393 413 392 413 412 393 394 414 393 414 413 394 395 415 394 415 414 395 396 416 395 416 415 396 397 417 396 417 416 397 398 418 397 418 417 398 399 419 398 419 418 399 380 400 399 400 419 400 401 421 400 421 420 401 402 422 401 422 421 402 403 423 402 423 422 403 404 424 403 424 423 404 405 425 404 425 424 405 406 426 405 426 425 406 407 427 406 427 426 407 408 428 407 428 427 408 409 429 408 429 428 409 410 430 409 430 429 410 411 431 410 431 430 411 412 432 411 432 431 412 413 433 412 433 432 413 414 434 413 434 433 414 415 435 414 435 434 415 416 436 415 436 435 416 417 437 416 437 436 417 418 438 417 438 437 418 419 439 418 439 438 419 400 420 419 420 439 420 421 441 420 441 440 421 422 442 421 442 441 422 423 443 422 443 442 423 424 444 423 444 443 424 425 445 424 445 444 425 426 446 425 446 445 426 427 447 426 447 446 427 428 448 427 448 447 428 429 449 428 449 448 429 430 450 429 450 449 430 431 451 430 451 450 431 432 452 431 452 451 432 433 453 432 453 452 433 434 454 433 454 453 434 435 455 434 455 454 435 436 456 435 456 455 436 437 457 436 457 456 437 438 458 437 458 457 438 439 459 438 459 458 439 420 440 439 440 459 440 441 461 440 461 460 441 442 462 441 462 461 442 443 463 442 463 462 443 444 464 443 464 463 444 445 465 444 465 464 445 446 466 445 466 465 446 447 467 446 467 466 447 448 468 447 468 467 448 449 469 448 469 468 449 450 470 449 470 469 450 451 471 450 471 470 451 452 472 451 472 471 452 453 473 452 473 472 453 454 474 453 474 473 454 455 475 454 475 474 455 456 476 455 476 475 456 457 477 456 477 476 457 458 478 457 478 477 458 459 479 458 479 478 459 440 460 459 460 479 460 461 481 460 481 480 461 462 482 461 482 481 462 463 483 462 483 482 463 464 484 463 484 483 464 465 485 464 485 484 465 466 486 465 486 485 466 467 487 466 487 486 467 468 488 467 488 487 468 469 489 468 489 488 469 470 490 469 490 489 470 471 491 470 491 490 471 472 492 471 492 491 472 473 493 472 493 492 473 474 494 473 494 493 474 475 495 474 495 494 475 476 496 475 496 495 476 477 497 476 497 496 477 478 498 477 498 497 478 479 499 478 499 498 479 460 480 479 480 499 500 1 0 500 2 1 500 3 2 500 4 3 500 5 4 500 6 5 500 7 6 500 8 7 500 9 8 500 10 9 500 11 10 500 12 11 500 13 12 500 14 13 500 15 14 500 16 15 500 17 16 500 18 17 500 19 18 500 0 19">
<contact selfcollide="none" internal="false" solref="0.01 1" solimp=".95 .99 .0001"/>
<elasticity young="2e5" poisson=".2" thickness="1.2e-3" elastic2d="both" damping="2e-2"/>
</flex>
</deformable>
<tendon>
<spatial name="draw" width="0.001" rgba="0 0 0 0">
<site site="rim0"/>
<site site="bightA"/>
<site site="rim1"/>
<site site="rim2"/>
<site site="rim3"/>
<site site="rim4"/>
<site site="rim5"/>
<site site="rim6"/>
<site site="rim7"/>
<site site="rim8"/>
<site site="rim9"/>
<site site="rim10"/>
<site site="bightB"/>
<site site="rim11"/>
<site site="rim12"/>
<site site="rim13"/>
<site site="rim14"/>
<site site="rim15"/>
<site site="rim16"/>
<site site="rim17"/>
<site site="rim18"/>
<site site="rim19"/>
<site site="rim0"/>
</spatial>
</tendon>
<equality>
<tendon tendon1="draw" solref="0.004 1" solimp="0.99 0.999 0.001"/>
<joint joint1="pullB" joint2="pullA" polycoef="0 1 0 0 0"/>
</equality>
<actuator>
<position name="pull" joint="pullA" kp="50" dampratio="1" forcerange="-40 40" ctrlrange="0 0.8"/>
</actuator>
</mujoco>