<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content f09fc0c4676418e8 -->
<mujoco model="so_arm_102_pre_for_urdf_v5">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <material name="silver" rgba="0.7 0.7 0.7 1.0" />
    <mesh name="base_link_0p001_0p001_0p001" file="meshes/base_link.stl" scale="0.001 0.001 0.001" />
    <mesh name="link1_1_0p001_0p001_0p001" file="meshes/link1_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link2_1_0p001_0p001_0p001" file="meshes/link2_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link3_1_0p001_0p001_0p001" file="meshes/link3_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link4_1_0p001_0p001_0p001" file="meshes/link4_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="link5_1_0p001_0p001_0p001" file="meshes/link5_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="clamp1_1_0p001_0p001_0p001" file="meshes/clamp1_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="clamp2_1_0p001_0p001_0p001" file="meshes/clamp2_1.stl" scale="0.001 0.001 0.001" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="-0.00753657459228 2.70964811146e-05 0.013641047398" mass="0.178499229726" fullinertia="0.000199871543864 0.000148679123423 0.000331455821027 1.90199840717e-07 -2.10081183092e-06 4.23062670743e-08" />
      <geom name="base_link_vis_0" type="mesh" mesh="base_link_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" material="silver" />
      <geom name="base_link_col_0" type="box" size="0.000928908759605 0.02305 0.004178908759605" pos="-0.0676210912404 0.0 0.0041289087596" group="3" />
      <geom name="base_link_col_1" type="box" size="0.000929110712535 0.03815518068185 0.00505" pos="-0.0658630717683 -7.32747196253e-16 0.005" group="3" />
      <geom name="base_link_col_2" type="box" size="0.00180824267369 0.0445971198067 0.00505" pos="-0.0632269725968 -6.2172489379e-17 0.005" group="3" />
      <geom name="base_link_col_3" type="box" size="0.00356563503842 0.0567756368215 0.00505" pos="-0.0579530948847 -6.2172489379e-17 0.005" group="3" />
      <geom name="base_link_col_4" type="box" size="0.00708149494115 0.077716878877 0.005050005" pos="-0.0474059649052 1.12709785505e-09 0.005000005" group="3" />
      <geom name="base_link_col_5" type="box" size="0.0141130297565 0.080050708651 0.00505" pos="-0.0263128691418 -1.92392880294e-09 0.005" group="3" />
      <geom name="base_link_col_6" type="box" size="0.00730515303575 0.0070735026919 0.00505" pos="-0.0587448469642 1.38777878078e-16 0.015" group="3" />
      <geom name="base_link_col_7" type="box" size="0.00326877007684 0.0192999518598 0.00255" pos="-0.0347812299232 -2.22044604925e-18 0.0125" group="3" />
      <geom name="base_link_col_8" type="box" size="0.00326877007684 0.0257061385783 0.00255" pos="-0.0283436897695 -4.4408920985e-18 0.0125" group="3" />
      <geom name="base_link_col_9" type="box" size="0.0064875401537 0.011404896858 0.00255" pos="-0.018687379539 -0.020028849057 0.0125" group="3" />
      <geom name="base_link_col_10" type="box" size="0.0064875401537 0.011404896858 0.00255" pos="-0.018687379539 0.020028849057 0.0125" group="3" />
      <geom name="base_link_col_11" type="box" size="0.0235616710386 0.0050503552874 0.00505" pos="0.0112618316533 -0.0750003552874 0.005" group="3" />
      <geom name="base_link_col_12" type="box" size="0.02500504671155 0.00255 0.00505" pos="0.0127052073263 -0.0675 0.005" group="3" />
      <geom name="base_link_col_13" type="box" size="0.02380839927465 0.00255 0.00505" pos="0.0167886061091 -0.0625 0.005" group="3" />
      <geom name="base_link_col_14" type="box" size="0.02817508030735 0.01005001300845 0.00505000521435" pos="0.0158752409221 -0.0499999869915 0.00500000521433" group="3" />
      <geom name="base_link_col_15" type="box" size="0.02817491969265 0.00505001047295 0.00655" pos="0.0158750803074 -0.0350000104729 0.0065" group="3" />
      <geom name="base_link_col_16" type="box" size="0.02817491969265 0.00505 0.00755" pos="0.0158750803074 -0.025 0.0075" group="3" />
      <geom name="base_link_col_17" type="box" size="0.0218484378813 0.00255 0.00755" pos="0.0222015621187 -0.0175 0.0075" group="3" />
      <geom name="base_link_col_18" type="box" size="0.01770153077165 0.00255 0.00755" pos="0.0263484692283 -0.0125 0.0075" group="3" />
      <geom name="base_link_col_19" type="box" size="0.00793345367185 0.00505 0.00755" pos="0.0203496389845 -0.005 0.0075" group="3" />
      <geom name="base_link_col_20" type="box" size="0.00793345367185 0.00505 0.00505" pos="0.0361165463282 -0.005 0.005" group="3" />
      <geom name="base_link_col_21" type="box" size="0.00793345367185 0.00505 0.00755" pos="0.0203496389845 0.005 0.0075" group="3" />
      <geom name="base_link_col_22" type="box" size="0.00793345367185 0.00505 0.00505" pos="0.0361165463282 0.005 0.005" group="3" />
      <geom name="base_link_col_23" type="box" size="0.01770153077165 0.00255 0.00755" pos="0.0263484692283 0.0125 0.0075" group="3" />
      <geom name="base_link_col_24" type="box" size="0.01094921894065 0.00255 0.00755" pos="0.0113023431781 0.0175 0.0075" group="3" />
      <geom name="base_link_col_25" type="box" size="0.01094921894065 0.00255 0.00655" pos="0.0331007810594 0.0175 0.0065" group="3" />
      <geom name="base_link_col_26" type="box" size="0.02817491969265 0.00505 0.00755" pos="0.0158750803074 0.025 0.0075" group="3" />
      <geom name="base_link_col_27" type="box" size="0.02817491969265 0.0050500224689 0.00655" pos="0.0158750803074 0.0350000224689 0.0065" group="3" />
      <geom name="base_link_col_28" type="box" size="0.02817508030735 0.01005001380725 0.00505000521435" pos="0.0158752409221 0.0499999861927 0.00500000521433" group="3" />
      <geom name="base_link_col_29" type="box" size="0.02644842238455 0.00255 0.00505" pos="0.0141485829993 0.0625 0.005" group="3" />
      <geom name="base_link_col_30" type="box" size="0.02500504671155 0.00255 0.005050051187" pos="0.0127052073263 0.0675 0.005" group="3" />
      <geom name="base_link_col_31" type="box" size="0.0235616710386 0.0050503552874 0.00505" pos="0.0112618316533 0.0750003552874 0.005" group="3" />
      <geom name="base_link_col_32" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.013625" group="3" />
      <geom name="base_link_col_33" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.013625" group="3" />
      <geom name="base_link_col_34" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.013625" group="3" />
      <geom name="base_link_col_35" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.013625" group="3" />
      <geom name="base_link_col_36" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.014875" group="3" />
      <geom name="base_link_col_37" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.014875" group="3" />
      <geom name="base_link_col_38" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.014875" group="3" />
      <geom name="base_link_col_39" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.014875" group="3" />
      <geom name="base_link_col_40" type="box" size="0.0098 0.0338249907476 0.000675" pos="-0.03525 -1.11022302463e-16 0.016125" group="3" />
      <geom name="base_link_col_41" type="box" size="0.0098 0.03905 0.000675" pos="-0.01575 -1.11022302463e-16 0.016125" group="3" />
      <geom name="base_link_col_42" type="box" size="0.0098 0.03905 0.000675" pos="0.00375 -1.11022302463e-16 0.016125" group="3" />
      <geom name="base_link_col_43" type="box" size="0.0098 0.0338249907476 0.000675" pos="0.02325 -1.11022302463e-16 0.016125" group="3" />
      <geom name="base_link_col_44" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.017375" group="3" />
      <geom name="base_link_col_45" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.017375" group="3" />
      <geom name="base_link_col_46" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.017375" group="3" />
      <geom name="base_link_col_47" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.017375" group="3" />
      <geom name="base_link_col_48" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.018625" group="3" />
      <geom name="base_link_col_49" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.018625" group="3" />
      <geom name="base_link_col_50" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.018625" group="3" />
      <geom name="base_link_col_51" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.018625" group="3" />
      <geom name="base_link_col_52" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.019875" group="3" />
      <geom name="base_link_col_53" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.019875" group="3" />
      <geom name="base_link_col_54" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.019875" group="3" />
      <geom name="base_link_col_55" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.019875" group="3" />
      <geom name="base_link_col_56" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.021125" group="3" />
      <geom name="base_link_col_57" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.021125" group="3" />
      <geom name="base_link_col_58" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.021125" group="3" />
      <geom name="base_link_col_59" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.021125" group="3" />
      <geom name="base_link_col_60" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 -0.02925 0.022375" group="3" />
      <geom name="base_link_col_61" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 -0.00975 0.022375" group="3" />
      <geom name="base_link_col_62" type="box" size="0.03905 0.0098 0.000675" pos="-0.006 0.00975 0.022375" group="3" />
      <geom name="base_link_col_63" type="box" size="0.0338249907476 0.0098 0.000675" pos="-0.006 0.02925 0.022375" group="3" />
      <geom name="base_link_col_64" type="box" size="0.00489122918276 0.000675 0.00125" pos="-0.006 -0.009375 0.0262" group="3" />
      <geom name="base_link_col_65" type="box" size="0.00666437827765 0.000675 0.00125" pos="-0.006 -0.008125 0.0262" group="3" />
      <geom name="base_link_col_66" type="box" size="0.00871025403785 0.0013 0.00125" pos="-0.006 -0.00625 0.0262" group="3" />
      <geom name="base_link_col_67" type="box" size="0.01005 0.00255 0.00125" pos="-0.006 -0.0025 0.0262" group="3" />
      <geom name="base_link_col_68" type="box" size="0.01005 0.00255 0.00125" pos="-0.006 0.0025 0.0262" group="3" />
      <geom name="base_link_col_69" type="box" size="0.00871025403785 0.0013 0.00125" pos="-0.006 0.00625 0.0262" group="3" />
      <geom name="base_link_col_70" type="box" size="0.00666437827765 0.000675 0.00125" pos="-0.006 0.008125 0.0262" group="3" />
      <geom name="base_link_col_71" type="box" size="0.00489122918276 0.000675 0.00125" pos="-0.006 0.009375 0.0262" group="3" />
      <geom name="base_link_col_72" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 -0.0225 0.0158125" group="3" />
      <geom name="base_link_col_73" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 -0.0075 0.0158125" group="3" />
      <geom name="base_link_col_74" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 0.0075 0.0158125" group="3" />
      <geom name="base_link_col_75" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 0.0225 0.0158125" group="3" />
      <geom name="base_link_col_76" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 -0.0225 0.0170375" group="3" />
      <geom name="base_link_col_77" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 -0.0075 0.0170375" group="3" />
      <geom name="base_link_col_78" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 0.0075 0.0170375" group="3" />
      <geom name="base_link_col_79" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 0.0225 0.0170375" group="3" />
      <geom name="base_link_col_80" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 -0.0225 0.0182625" group="3" />
      <geom name="base_link_col_81" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 -0.0075 0.0182625" group="3" />
      <geom name="base_link_col_82" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 0.0075 0.0182625" group="3" />
      <geom name="base_link_col_83" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 0.0225 0.0182625" group="3" />
      <geom name="base_link_col_84" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 -0.0225 0.0194875" group="3" />
      <geom name="base_link_col_85" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 -0.0075 0.0194875" group="3" />
      <geom name="base_link_col_86" type="box" size="0.03005 0.00755 0.0006625" pos="-0.006 0.0075 0.0194875" group="3" />
      <geom name="base_link_col_87" type="box" size="0.02603076211355 0.00755 0.0006625" pos="-0.006 0.0225 0.0194875" group="3" />
      <geom name="base_link_col_88" type="box" size="0.00755 0.02603076211355 0.0006625" pos="-0.0285 -1.06581410364e-16 0.0207125" group="3" />
      <geom name="base_link_col_89" type="box" size="0.00755 0.03005 0.0006625" pos="-0.0135 -1.11022302463e-16 0.0207125" group="3" />
      <geom name="base_link_col_90" type="box" size="0.00755 0.03005 0.0006625" pos="0.0015 -1.11022302463e-16 0.0207125" group="3" />
      <geom name="base_link_col_91" type="box" size="0.00755 0.02603076211355 0.0006625" pos="0.0165 -1.06581410364e-16 0.0207125" group="3" />
      <geom name="base_link_col_92" type="box" size="0.00755 0.02603076211355 0.0006625" pos="-0.0285 -1.11022302463e-16 0.0219375" group="3" />
      <geom name="base_link_col_93" type="box" size="0.00755 0.03005 0.0006625" pos="-0.0135 -1.11022302463e-16 0.0219375" group="3" />
      <geom name="base_link_col_94" type="box" size="0.00755 0.03005 0.0006625" pos="0.0015 -1.11022302463e-16 0.0219375" group="3" />
      <geom name="base_link_col_95" type="box" size="0.00755 0.02603076211355 0.0006625" pos="0.0165 -1.11022302463e-16 0.0219375" group="3" />
      <geom name="base_link_col_96" type="box" size="0.00805 0.0277628129211 0.0006625" pos="-0.03 -1.11022302463e-16 0.0231625" group="3" />
      <geom name="base_link_col_97" type="box" size="0.00805 0.03205 0.0006625" pos="-0.014 -1.11022302463e-16 0.0231625" group="3" />
      <geom name="base_link_col_98" type="box" size="0.00805 0.03205 0.0006625" pos="0.002 -1.11022302463e-16 0.0231625" group="3" />
      <geom name="base_link_col_99" type="box" size="0.00805 0.0277628129211 0.0006625" pos="0.018 -1.11022302463e-16 0.0231625" group="3" />
      <geom name="base_link_col_100" type="box" size="0.0277628129211 0.00805 0.0006625" pos="-0.006 -0.024 0.0243875" group="3" />
      <geom name="base_link_col_101" type="box" size="0.03205 0.00805 0.0006625" pos="-0.006 -0.008 0.0243875" group="3" />
      <geom name="base_link_col_102" type="box" size="0.03205 0.00805 0.0006625" pos="-0.006 0.008 0.0243875" group="3" />
      <geom name="base_link_col_103" type="box" size="0.0277628129211 0.00805 0.0006625" pos="-0.006 0.024 0.0243875" group="3" />
      <body name="link1_1" pos="-0.006 -1.10978314851e-16 0.025">
        <joint name="base_to_link1" type="hinge" axis="-3.48927236311e-15 -1.38855301773e-17 -1.0" range="-3.07177948351 3.07177948351" />
        <inertial pos="0.000323477926688 -9.49285422888e-06 0.0277445919724" mass="0.201603775922" fullinertia="0.000198444068688 0.000237480937143 0.000210354023061 7.13434120346e-08 -3.34183738347e-05 8.6838415384e-08" />
        <geom name="link1_1_vis_0" type="mesh" mesh="link1_1_0p001_0p001_0p001" pos="0.006 1.10978314851e-16 -0.025" contype="0" conaffinity="0" group="2" material="silver" />
        <geom name="link1_1_col_0" type="box" size="0.00965 0.00965 0.00126417738974" pos="-3.46944695195e-18 1.66874823626e-17 0.00121417738974" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_1" type="box" size="0.00245 0.00836384387635 8.9177003001e-05" pos="-0.0072 5.09158743046e-18 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_2" type="box" size="0.00065 0.00227485954613 8.9177003001e-05" pos="-0.0042 -0.00667457863839 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_3" type="box" size="0.00065 0.00227485954613 0.00065708869487" pos="-0.0042 -0.00222485954613 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_4" type="box" size="0.00065 0.00227485954613 0.00065708869487" pos="-0.0042 0.00222485954613 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_5" type="box" size="0.00065 0.00227485954613 8.9177003001e-05" pos="-0.0042 0.00667457863839 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_6" type="box" size="0.00065 0.00469758001545 0.00065708869487" pos="-0.003 -0.00464758001545 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_7" type="box" size="0.00065 0.00469758001545 0.00065708869487" pos="-0.003 0.00464758001545 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_8" type="box" size="0.00065 0.00243117617996 8.9177003001e-05" pos="-0.0018 -0.00714352853987 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_9" type="box" size="0.00065 0.00243117617996 0.00065708869487" pos="-0.0018 -0.00238117617996 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_10" type="box" size="0.00065 0.00243117617996 0.00065708869487" pos="-0.0018 0.00238117617996 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_11" type="box" size="0.00065 0.00243117617996 8.9177003001e-05" pos="-0.0018 0.00714352853987 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_12" type="box" size="0.00065 0.00405 0.00065708869487" pos="-0.0006 -0.0056 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_13" type="box" size="0.00065 0.00405 0.00065708869487" pos="-0.0006 0.0056 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_14" type="box" size="0.00065 0.00405 0.00065708869487" pos="0.0006 -0.0056 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_15" type="box" size="0.00065 0.00405 0.00065708869487" pos="0.0006 0.0056 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_16" type="box" size="0.00065 0.004812352359915 0.00065708869487" pos="0.0018 -0.00476235235992 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_17" type="box" size="0.00065 0.00243117617996 0.00065708869487" pos="0.0018 0.00238117617996 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_18" type="box" size="0.00065 0.00243117617996 8.9177003001e-05" pos="0.0018 0.00714352853987 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_19" type="box" size="0.00065 0.00469758001545 0.00065708869487" pos="0.003 -0.00464758001545 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_20" type="box" size="0.00065 0.00469758001545 0.00065708869487" pos="0.003 0.00464758001545 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_21" type="box" size="0.00065 0.00227485954613 8.9177003001e-05" pos="0.0042 -0.00667457863839 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_22" type="box" size="0.00065 0.00227485954613 0.00065708869487" pos="0.0042 -0.00222485954613 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_23" type="box" size="0.00065 0.00227485954613 0.00065708869487" pos="0.0042 0.00222485954613 0.00303544347435" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_24" type="box" size="0.00065 0.00227485954613 8.9177003001e-05" pos="0.0042 0.00667457863839 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_25" type="box" size="0.00245 0.00836384387635 8.9177003001e-05" pos="0.0072 3.98136440583e-18 0.00246753178248" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_26" type="box" size="0.001165 0.00391247330088 0.00065708869487" pos="-0.003345 4.69321024287e-19 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_27" type="box" size="0.0006075 0.00436837643102 0.00065708869487" pos="-0.0016725 4.69321024287e-19 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_28" type="box" size="0.0006075 0.00451 0.00065708869487" pos="-0.0005575 4.69321024287e-19 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_29" type="box" size="0.0006075 0.00451 0.00065708869487" pos="0.0005575 4.69321024287e-19 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_30" type="box" size="0.0006075 0.00436837643102 0.00065708869487" pos="0.0016725 4.69321024287e-19 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_31" type="box" size="0.001165 0.00391247330088 0.00065708869487" pos="0.003345 1.0244325366e-18 0.00424962086409" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_32" type="box" size="0.0225276899829 0.01255010747485 0.01699999980725" pos="-0.0125027236749 -1.99135759842e-06 0.0203067088317" quat="0.9999999733311571 -2.732734305326585e-08 6.311237149824392e-12 0.00023094952806744805" group="3" />
        <geom name="link1_1_col_33" type="box" size="0.02183553252885 0.002862500632235 0.0023" pos="-4.7843023189e-09 -0.0421875094831 -0.00339329204796" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_34" type="box" size="0.0298147089402 0.002862500632205 0.0023" pos="-1.09354414846e-09 -0.0365625082187 -0.00339329204796" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_35" type="box" size="0.01266262030595 0.00447619672495 0.0023" pos="-0.0282462321142 -0.0292905022922 -0.00339329204782" quat="0.9431449751698716 1.516794748310943e-11 5.3454637622697856e-12 -0.3323816418092646" group="3" />
        <geom name="link1_1_col_36" type="box" size="0.01266261945735 0.00447619372947 0.00230000000001" pos="0.0282462295672 -0.0292905004888 -0.00339329204803" quat="0.9431449753531801 -9.135822540596996e-12 3.2196319441166734e-12 0.3323816412891202" group="3" />
        <geom name="link1_1_col_37" type="box" size="0.00492240622196 0.01316509178585 0.00229999999904" pos="-0.0384268717835 -0.0116253593942 -0.00339329204799" quat="0.9868435527919875 4.2041038219043355e-11 -6.887732528722174e-12 0.16167808235159087" group="3" />
        <geom name="link1_1_col_38" type="box" size="0.004922405185465 0.0131650914371 0.0023" pos="0.0384268706901 -0.0116253593942 -0.00339329204766" quat="0.9868435527873797 1.3338682879697516e-11 2.1853237662424114e-12 -0.16167808237971593" group="3" />
        <geom name="link1_1_col_39" type="box" size="0.004922406221165 0.0131650917861 0.00229999999338" pos="-0.0384268717845 0.0116253593954 -0.00339329204818" quat="0.9868435527758197 -2.903175352648707e-10 -4.756375240143906e-11 -0.16167808245027523" group="3" />
        <geom name="link1_1_col_40" type="box" size="0.004922405186135 0.01316509143675 0.0023" pos="0.0384268706893 0.0116253593938 -0.00339329204803" quat="0.986843552796757 3.1642671327296407e-12 -5.184131167745353e-13 0.161678082322479" group="3" />
        <geom name="link1_1_col_41" type="box" size="0.01266262318095 0.00447619672488 0.00229999999977" pos="-0.0282462343542 0.0292905004894 -0.003393292048" quat="0.9431449751557454 -2.005545569373894e-11 7.067911580006452e-12 0.33238164184934826" group="3" />
        <geom name="link1_1_col_42" type="box" size="0.01266261657865 0.004476191411825 0.0023" pos="0.028246225879 0.0292905004891 -0.00339329204788" quat="0.9431449751582383 -8.030662401853918e-12 -2.8301531838124153e-12 -0.3323816418422747" group="3" />
        <geom name="link1_1_col_43" type="box" size="0.02981470524945 0.002862500632205 0.0023" pos="-4.78427443495e-09 0.0365625082187 -0.00339329204796" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_44" type="box" size="0.02183553991025 0.002862500632205 0.0023" pos="-4.78420647976e-09 0.0421875094831 -0.00339329204796" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_45" type="box" size="0.02981470853185 0.0056750012644 0.0006125" pos="-8.88324367451e-09 -0.0393750088509 -0.000580792047959" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_46" type="box" size="0.03902115193065 0.0056750012644 0.0006125" pos="-9.29532145959e-09 -0.028125006322 -0.000580792047959" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_47" type="box" size="0.0049224097186 0.01316509296295 0.0006125" pos="-0.038426875475 -0.0116253593942 -0.000580792047958" quat="0.986843552806296 -4.397263744178982e-14 7.204193282149876e-15 0.16167808226425523" group="3" />
        <geom name="link1_1_col_48" type="box" size="0.004922401685265 0.01316509026025 0.0006125" pos="0.0384268670023 -0.0116253593958 -0.000580792029175" quat="0.9868435527501938 8.523069541324934e-10 1.396364740403716e-10 -0.16167808260668992" group="3" />
        <geom name="link1_1_col_49" type="box" size="0.00492241010863 0.0131650930944 0.0006125" pos="-0.0384268758839 0.011625359394 -0.000580792047837" quat="0.9868435527932001 -5.530438776195642e-12 -9.060714166211085e-13 -0.16167808234418954" group="3" />
        <geom name="link1_1_col_50" type="box" size="0.00492240168793 0.01316509025935 0.00061249999988" pos="0.0384268669991 0.0116253593941 -0.000580792047963" quat="0.986843552789724 -5.211295343190452e-12 8.537850152046588e-13 0.16167808236540668" group="3" />
        <geom name="link1_1_col_51" type="box" size="0.03902115193085 0.0056750012644 0.0006125" pos="-9.29513835259e-09 0.0281250063221 -0.000580792047958" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_52" type="box" size="0.029814709352 0.0056750012644 0.0006125" pos="-8.88681288107e-09 0.0393750088509 -0.000580792047958" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_53" type="box" size="0.02938997054795 0.00559473325315 0.0006125" pos="1.11022302463e-16 -0.0388131327719 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_54" type="box" size="0.03846503883535 0.00559473325315 0.0006125" pos="1.120891574e-14 -0.0277236662657 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_55" type="box" size="0.0429993190971 0.00559473325315 0.0006125" pos="9.85409670529e-15 -0.0166341997594 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_56" type="box" size="0.04436985065035 0.00559473325315 0.0006125" pos="1.552577511e-16 -0.00554473325313 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_57" type="box" size="0.04436985065035 0.00559473325315 0.0006125" pos="1.552577511e-16 0.00554473325313 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_58" type="box" size="0.0429993190971 0.00559473325315 0.0006125" pos="7.74900976719e-15 0.0166341997594 0.000544207952041" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_59" type="box" size="0.03846503883535 0.00559473325315 0.0006125" pos="6.49220260884e-15 0.0277236662657 0.000544207952042" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_60" type="box" size="0.02938997054795 0.00559473325315 0.0006125" pos="1.11022302463e-16 0.0388131327719 0.000544207952042" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_61" type="box" size="0.0431782292677 0.04325202487015 0.0006125" pos="1.02348685083e-16 2.03937994368e-16 0.00166920795204" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_62" type="box" size="0.01053067509765 0.03474609581805 0.0006125" pos="-0.0314420252929 2.55247323346e-16 0.00279420795204" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_63" type="box" size="0.01053067509765 0.04209618371525 0.0006125" pos="-0.0104806750976 1.97515726065e-16 0.00279420795204" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_64" type="box" size="0.0210113501953 0.04209618371525 0.0006125" pos="0.0209613501953 1.97515726065e-16 0.00279420795204" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_65" type="box" size="0.04082249212685 0.03014234401305 0.001378320338525" pos="1.34488804272e-05 -1.2565672457e-15 0.00468484328064" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_66" type="box" size="0.04091904638105 0.03039274074805 0.00137830286355" pos="8.99543593689e-05 -7.43124836414e-15 0.0073411088304" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_67" type="box" size="0.04115109341995 0.03064313748305 0.001378209603685" pos="0.000303555537538 1.29749747465e-16 0.00999737974449" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_68" type="box" size="0.0413470106317 0.0307683358505 0.000714085627175" pos="0.000490855855291 1.1393597053e-16 0.0119895879238" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_69" type="box" size="0.04147966790225 0.030893534218 0.00071409435217" pos="0.000615302890685 1.0191312877e-16 0.0133177313411" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_70" type="box" size="0.0416121201142 0.0310187325855 0.000714105266515" pos="0.000739953501354 9.43312591353e-17 0.0146458607399" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_71" type="box" size="0.0417443663734 0.031143930953 0.000714111477445" pos="0.000864808767406 8.67493486446e-17 0.0159739972955" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_72" type="box" size="0.04200823746125 0.031394327688 0.00137819351049" pos="0.00111513758813 7.5376485902e-17 0.0179662016045" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_73" type="box" size="0.0422712740285 0.031644724423 0.00137820059464" pos="0.00136629800105 6.02126959663e-17 0.0206224692774" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_74" type="box" size="0.04253346843665 0.03189512115795 0.001378196423795" pos="0.00161829916858 4.06080441037e-17 0.0232787316651" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_75" type="box" size="0.0427948119602 0.03214551789295 0.00137818773555" pos="0.00187115135672 2.54442369135e-17 0.0259350023604" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_76" type="box" size="0.0429251621582 0.03227071626045 0.000714111804235" pos="0.0019978995511 9.63043630304e-18 0.027927214687" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_77" type="box" size="0.0430602516401 0.03239591462795 0.000714120214455" pos="0.00211990907977 -2.39233550479e-18 0.0292553458506" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_78" type="box" size="0.04318880155565 0.03252111299755 0.00071411683982" pos="0.0022484589953 -9.97423182402e-18 0.0305834799237" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_79" type="box" size="0.0433173519733 0.0326463113629 0.000714110533525" pos="0.00237700941298 -2.64379119281e-17 0.0319116139247" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_80" type="box" size="0.0434459029183 0.0327715096516 0.000714098854205" pos="0.00250556035798 -3.40198223295e-17 0.0332397504647" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_81" type="box" size="0.04357445472985 0.0328967080979 0.000714107742965" pos="0.00263411216952 -4.60426383884e-17 0.0345678893798" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_82" type="box" size="0.0437030072694 0.0330219064654 0.00071411519739" pos="0.00276266470905 -5.36245516549e-17 0.0358960264216" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_83" type="box" size="0.04383156071495 0.0331471048329 0.00071411716922" pos="0.0028912181546 -7.00882173538e-17 0.0372241578992" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_84" type="box" size="0.044088670734 0.0333975015679 0.00137831218201" pos="0.00314832817365 -9.47838506005e-17 0.039216378711" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_85" type="box" size="0.04424571879685 0.03364789830285 0.001378521470155" pos="0.00330537095678 -3.71621484043e-10 0.041872844205" quat="0.9999999999980153 -1.399257302826178e-07 -1.9874636997187504e-06 2.780973095928185e-13" group="3" />
        <geom name="link1_1_col_86" type="box" size="0.0439838628298 0.03389287624915 0.00137842789257" pos="0.00304352026946 4.00159140492e-13 0.0445286105842" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_87" type="box" size="0.04434535939915 0.0340329788733 0.001378391917495" pos="0.00340445094301 -8.15057299391e-13 0.0471854303943" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_88" type="box" size="0.0442531558432 0.0340503832614 0.001378318251205" pos="0.00435971572997 -1.01565670274e-08 0.0498413822266" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_89" type="box" size="0.043356571781 0.03405 0.00137826933848" pos="0.00611936102315 -1.48397641058e-16 0.0524975946779" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_90" type="box" size="0.0422442221317 0.03405 0.000714257753075" pos="0.00766324072823 -1.59770205139e-16 0.0544897466699" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_91" type="box" size="0.04179593124195 0.03405 0.000714216525135" pos="0.0085430627932 -1.67352159442e-16 0.0558178909002" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_92" type="box" size="0.04285799550385 0.00805000531825 0.00536278592315" pos="0.0109332434552 -0.0260000053182 0.0617940872913" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_93" type="box" size="0.0428579955216 0.00745000500035 0.00536247176655" pos="0.0109332434375 0.0266000050004 0.0617944014479" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_94" type="box" size="0.0191124586844 0.00655 0.01067499510275" pos="-0.00218737605321 -0.0275 0.0777318683172" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_95" type="box" size="0.01911292345045 0.00805 0.01067538213535" pos="0.0359380060816 -0.026 0.0777322553498" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_96" type="box" size="0.0381753825799 0.00745 0.01067538213535" pos="0.0168755469522 0.0266 0.0777322553498" quat="1.0 2.85434146763e-15 0.0 0.0" group="3" />
        <geom name="link1_1_col_97" type="box" size="0.00286250000008 0.02183553132275 0.0050500000009" pos="-0.0354437892756 -0.0228806130634 -0.0106434239281" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_98" type="box" size="0.000753125 0.0242031369278 0.00505000000015" pos="-0.0324901395769 -0.0209738953081 -0.0106434190837" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_99" type="box" size="0.000753125 0.02628325358715 0.0050499999997" pos="-0.0313086796974 -0.020211208206 -0.0106434171445" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_100" type="box" size="0.00145625 0.01150366355675 0.00504999999995" pos="-0.019605401496 -0.0344511829337 -0.0106433979481" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_101" type="box" size="0.00145625 0.0115036635566 0.00504999999975" pos="-0.0394675782605 -0.00368317217173 -0.0106434305283" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_102" type="box" size="0.0028625 0.00979137350735 0.00505000000015" pos="-0.0122234778194 -0.0381077669533 -0.0106433858398" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_103" type="box" size="0.0028625 0.00736157907045 0.0050499999998" pos="-0.00409553920358 -0.0403271267965 -0.010643372507" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_104" type="box" size="0.00145625 0.00856646512855 0.00505000000025" pos="-0.0402778670221 0.00275774150563 -0.0106434318574" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_105" type="box" size="0.00145625 0.0072855635903 0.0050499999998" pos="-0.0399383220014 0.00741747587897 -0.0106434313005" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_106" type="box" size="0.0028625 0.0073615790703 0.00504999999985" pos="-0.0384370022405 0.0128703911205 -0.0106434288379" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_107" type="box" size="0.0028625 0.0060959854664 0.00505000000015" pos="0.00280545243145 -0.0406458531714 -0.0106433611875" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_108" type="box" size="0.0028625 0.00525938600015 0.00504999999985" pos="0.00899106590842 -0.0398564047915 -0.0106433510409" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_109" type="box" size="0.0063387716963 0.004169025843455 0.00505" pos="0.0172005526486 -0.0370911225736 -0.0106433374875" quat="0.9780701855931281 -1.5758805283945536e-07 -7.97147764203426e-07 0.2082755675857438" group="3" />
        <geom name="link1_1_col_110" type="box" size="0.0028625 0.0060959854663 0.00505000000015" pos="-0.0358863148399 0.0192906143124 -0.010643424654" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_111" type="box" size="0.0028625 0.005259386 0.00504999999985" pos="-0.0326202492812 0.0246026627494 -0.0106434192966" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_112" type="box" size="0.00633877172805 0.004169025944715 0.00505" pos="-0.0267203376356 0.0309456510819 -0.0106434096181" quat="0.9346842821121308 -2.9166879747534895e-07 -7.6662160196214e-07 0.3554789624884402" group="3" />
        <geom name="link1_1_col_113" type="box" size="0.0063387717292 0.00416902594429 0.0050500000003" pos="0.0267203518522 -0.0309456510814 -0.0106433219595" quat="0.9346842820579203 -2.915983572005195e-07 -7.666066019584385e-07 0.35547896263097956" group="3" />
        <geom name="link1_1_col_114" type="box" size="0.00286249999999 0.005259386 0.00505000000015" pos="0.0326202634973 -0.0246026627489 -0.0106433122817" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_115" type="box" size="0.00286249999999 0.0060959854663 0.00504999999985" pos="0.0358863290559 -0.0192906143119 -0.0106433069243" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_116" type="box" size="0.0063387717292 0.004169025943695 0.00505000000015" pos="-0.0172005384522 0.0370911226106 -0.0106433940036" quat="0.9780701860147781 -1.708352740507269e-07 -8.021859459850387e-07 0.20827556560562852" group="3" />
        <geom name="link1_1_col_117" type="box" size="0.00286249999999 0.00525938599985 0.00505000000015" pos="-0.00899105169197 0.0398564047915 -0.0106433805374" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_118" type="box" size="0.00286249999999 0.0060959854662 0.00504999999985" pos="-0.00280543821501 0.0406458531714 -0.0106433703908" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_119" type="box" size="0.00286249999999 0.0073615790704 0.00505000000015" pos="0.0384370164565 -0.01287039112 -0.0106433027404" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_120" type="box" size="0.001456249999995 0.0072855635904 0.0050500000002" pos="0.0399383362174 -0.00741747587838 -0.0106433002778" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_121" type="box" size="0.001456249999995 0.0085664651287 0.00504999999975" pos="0.040277881238 -0.00275774150499 -0.0106432997209" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_122" type="box" size="0.00286249999999 0.00736157907025 0.0050500000002" pos="0.00409555342002 0.0403271267964 -0.0106433590713" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_123" type="box" size="0.00286249999999 0.00979137350725 0.00504999999985" pos="0.0122234920359 0.0381077669532 -0.0106433457385" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_124" type="box" size="0.001456249999995 0.011503663557 0.0050500000001" pos="0.0394675924763 0.00368317217262 -0.0106433010499" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_125" type="box" size="0.001456249999995 0.01150366355685 0.0050500000001" pos="0.0196054157125 0.0344511829335 -0.0106433336302" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_126" type="box" size="0.001456249999995 0.0266707716565 0.00505" pos="0.0321095963217 0.0202669787424 -0.0106433131204" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_127" type="box" size="0.001456249999995 0.02377487413135 0.00504999999995" pos="0.0353141564101 0.0204885885596 -0.0106433078638" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <geom name="link1_1_col_128" type="box" size="0.001456249999995 0.01570933727045 0.00504999999935" pos="0.0366252633711 0.0236433001658 -0.0106433057122" quat="0.959205204221718 -2.3188491267739963e-07 -7.867123807788679e-07 0.28271076419779256" group="3" />
        <body name="link2_1" pos="0.04 -0.018 0.073356707952">
          <joint name="link1_to_link2" type="hinge" axis="3.7576779295e-14 -1.0 3.11848821907e-14" range="-2.32128790515 1.58824961931" />
          <inertial pos="-9.08588393138e-05 0.0179996080154 0.0565027997369" mass="0.180993297738" fullinertia="0.000343822377525 0.000338733474867 3.40211492897e-05 3.26214111802e-10 -8.83251140382e-08 1.62595657322e-06" />
          <geom name="link2_1_vis_0" type="mesh" mesh="link2_1_0p001_0p001_0p001" pos="-0.034 0.018 -0.098356707952" contype="0" conaffinity="0" group="2" material="silver" />
          <geom name="link2_1_col_0" type="box" size="0.04273098098575 0.00067545199198 0.00855" pos="0.00849996553692 0.0188250392342 0.0565017116361" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_1" type="box" size="0.04273098098575 0.00067544448198 0.00855" pos="-0.00850003446307 0.0188250467442 0.0565017116361" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_2" type="box" size="0.0220502797705 0.00067518493507 0.01705" pos="-3.44630759277e-08 0.020075374606 0.0345014318656" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_3" type="box" size="0.0220502797705 0.00067518493507 0.01705" pos="-3.44630759277e-08 0.020075374606 0.0785019914066" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_4" type="box" size="0.02267545839125 0.00067517862074 0.01705" pos="-3.44630759624e-08 0.0213257381618 0.0338762532449" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_5" type="box" size="0.02267545839125 0.00067517862074 0.01705" pos="-3.44630759624e-08 0.0213257381618 0.0791271700274" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_6" type="box" size="0.023300637012 0.00067517862074 0.01705" pos="-3.44630760041e-08 0.0225760954032 0.0332510746241" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_7" type="box" size="0.023300637012 0.00067517862074 0.01705" pos="-3.44630759833e-08 0.0225760954033 0.0797523486481" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_8" type="box" size="0.02392581563275 0.00067517862074 0.01705" pos="-3.4463076018e-08 0.0238264526447 0.0326258960034" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_9" type="box" size="0.02392581563275 0.0006751917636 0.01705" pos="-3.4463076018e-08 0.0238264657876 0.0803775272688" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_10" type="box" size="0.02455099425345 0.00067517862074 0.01705" pos="-3.44630760526e-08 0.0250768098862 0.0320007173826" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_11" type="box" size="0.02455099425345 0.000675199495015 0.01705" pos="-3.44630760526e-08 0.0250767890119 0.0810027058896" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_12" type="box" size="0.0503023457485 0.00067517862074 0.00855" pos="0.00849996553692 0.0263271671277 0.0565017116361" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_13" type="box" size="0.0503023457485 0.00067517862074 0.00855" pos="-0.00850003446307 0.0263271671277 0.0565017116361" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_14" type="box" size="0.02580135149495 0.00067517862074 0.01705" pos="-3.44630761082e-08 0.0275775243692 0.0307503601412" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_15" type="box" size="0.02580135149495 0.00067517862074 0.01705" pos="-3.44630761082e-08 0.0275775243692 0.0822530631311" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_16" type="box" size="0.0264261825581 0.00067483106313 0.01705" pos="-3.44630761429e-08 0.028827534053 0.030125529078" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_17" type="box" size="0.0264261825581 0.00067483106313 0.01705" pos="-3.4463076122e-08 0.028827534053 0.0828778941942" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_18" type="box" size="0.0270510136212 0.00067483106313 0.01705" pos="-3.44630761637e-08 0.0300771961793 0.0295006980149" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_19" type="box" size="0.0135505068106 0.00067483106313 0.01705" pos="-3.44630761637e-08 0.0300771961793 0.0700022184467" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_20" type="box" size="0.0135505068106 0.00067483106313 0.01705" pos="-3.44630761637e-08 0.0300771961793 0.0970032320679" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_21" type="box" size="0.0552468959455 0.00067484484646 0.004299999999995" pos="0.0127499655369 0.0313268720889 0.0565017030227" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_22" type="box" size="0.02105207734095 0.00067483106313 0.004299999999995" pos="0.00424996553692 0.0313268583055 0.0565017116361" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_23" type="box" size="0.055246887882 0.000674848302605 0.00855000000205" pos="-0.00850003446407 0.0313268737639 0.0565017116136" quat="0.7071067811664018 3.4041845786703107e-08 -0.7071067812066918 -3.4041845675680804e-08" group="3" />
          <geom name="link2_1_col_24" type="box" size="0.0280308936753 0.00067490372973 0.0170500306205" pos="-3.65971712865e-08 0.0325765001956 0.0285208201227" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_25" type="box" size="0.01404042903155 0.00067483106313 0.01705" pos="-3.44630762122e-08 0.0325765204318 0.0704921428296" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_26" type="box" size="0.01404045209925 0.00067487731168 0.0170500329742" pos="-4.05907876339e-08 0.03257651121 0.0984730239604" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_27" type="box" size="0.056421769773 0.000674907003575 0.00855" pos="0.00849996553692 0.0338261684801 0.0565017073093" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_28" type="box" size="0.0564217636175 0.00067489429525 0.00855" pos="-0.00850003446307 0.0338261753549 0.0565017116441" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_29" type="box" size="0.02830006648615 0.000676541138475 0.0170500271175" pos="-3.05395915154e-08 0.0350775016357 0.0282516397946" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_30" type="box" size="0.02830007890775 0.00067590029986 0.01705002545815" pos="-3.66437723012e-08 0.0350768654207 0.0847517851885" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_31" type="box" size="0.056556374135 0.001304454888345 0.01705" pos="-3.44630763233e-08 0.0369513488292 0.0565010389943" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_32" type="box" size="0.000650000023215 0.0013 0.004697580083755" pos="-1.32327150453e-06 0.0359493794576 -0.00900052245854" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_33" type="box" size="0.000649999976785 0.0013 0.0063998030256" pos="-1.32313493962e-06 0.0359493793987 -0.00780052245854" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_34" type="box" size="0.00065 0.0013 0.00754399752375" pos="-1.32311928269e-06 0.0359493795784 -0.00660052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_35" type="box" size="0.000299999934533 0.000637500045915 0.002297220225755" pos="-1.32306327313e-06 0.0330868794852 -0.00505052241629" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_36" type="box" size="0.00065 0.0001249998257145 0.002128460984315" pos="0.00623405971414 0.0347743795703 -0.00540052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_37" type="box" size="0.00065 0.00063749993247 0.002128460945305" pos="0.00207713778452 0.0342618794635 -0.00540052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_38" type="box" size="0.00065 0.00063749993247 0.002128460945305" pos="-0.00207978410609 0.0342618794635 -0.00540052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_39" type="box" size="0.00065 0.0001250000305765 0.002128460945305" pos="-0.0062367059967 0.0347743793654 -0.00540052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_40" type="box" size="0.00065 0.001225000310145 0.00836384382595" pos="-1.32312747842e-06 0.0360243797062 -0.00540052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_41" type="box" size="0.00125 0.00240000038305 0.0093451600872" pos="-1.32319957492e-06 0.034849379776 -0.00360052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_42" type="box" size="0.00065 0.00239999992526 0.0095747046457" pos="-1.323181737e-06 0.0348493793389 -0.00180052248176" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_43" type="box" size="0.00065 0.001299999955685 0.00204976718469" pos="0.00759890955942 0.0359493801719 -0.000600522481759" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_44" type="box" size="0.00065 0.00240000007603 0.00204976718469" pos="0.00359937519004 0.0348493799257 -0.000600522481759" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_45" type="box" size="0.00065 0.00239999989169 0.00205042877848" pos="-0.00360003678384 0.0348493795228 -0.000600522481759" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_46" type="box" size="0.00065 0.001299999955535 0.00205042877848" pos="-0.0076008943408 0.0359493792197 -0.000600522481759" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_47" type="box" size="0.00065 0.001300000044465 0.002049571254015" pos="0.0075991054901 0.0359493802609 0.000599477518241" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_48" type="box" size="0.00065 0.002400000109245 0.002049571254015" pos="0.00359996298207 0.0348493799817 0.000599477518241" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_49" type="box" size="0.00065 0.002399999890685 0.002050232847805" pos="-0.00360062457586 0.0348493795882 0.000599477518241" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_50" type="box" size="0.0003803095688095 0.00129999998773 0.000298851954008" pos="-0.00584970937768 0.0359493794666 0.000869167949431" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_51" type="box" size="0.00065 0.0013 0.000898619277525" pos="-0.00875270384176 0.0359493792157 0.000599477518241" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_52" type="box" size="0.00065 0.0023999999027 0.0095747046574" pos="-1.32319343633e-06 0.0348493799697 0.00179947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_53" type="box" size="0.00125 0.002400000124835 0.0093451599746" pos="-1.32319957492e-06 0.0348493802125 0.00359947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_54" type="box" size="0.00065 0.0013 0.00212846095871" pos="0.00623405966173 0.0359493801903 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_55" type="box" size="0.000300000065467 0.0006374999489 0.00117361046811" pos="0.00112228725371 0.0330868798861 0.00504947758371" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_56" type="box" size="0.00065 0.000637499896785 0.00212846095871" pos="0.00207713774432 0.0342618797318 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_57" type="box" size="0.00065 0.001225000258585 0.00212846095871" pos="0.00207713774432 0.0360243798872 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_58" type="box" size="0.00065 0.002399999999985 0.001089230479355" pos="-0.00104055369375 0.034849379805 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_59" type="box" size="0.00065 0.002399999999985 0.001089230479355" pos="-0.00311901465246 0.034849379805 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_60" type="box" size="0.00065 0.001299999977715 0.002128461000205" pos="-0.00623670613202 0.0359493797137 0.00539947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_61" type="box" size="0.00065 0.00129999982574 0.00754399756695" pos="-1.32322476073e-06 0.0359493797279 0.00659947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_62" type="box" size="0.00065 0.00130000011221 0.00639980314655" pos="-1.32325589071e-06 0.0359493801941 0.00779947751824" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_63" type="box" size="0.00065000004643 0.001299999887675 0.004697580183285" pos="-1.32311928272e-06 0.0359493799107 0.00899947756467" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_64" type="box" size="0.00065 0.00055 0.00469758001545" pos="0.0 0.0005 -0.009" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_65" type="box" size="0.00065 0.00055 0.00639980314655" pos="0.0 0.0005 -0.0078" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_66" type="box" size="0.00125 0.00055 0.00836384387635" pos="0.0 0.0005 -0.006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_67" type="box" size="0.00125 0.000924845106855 0.0093451600309" pos="-1.38777878078e-17 0.000874845106857 -0.0036" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_68" type="box" size="0.00065 0.000924845106855 0.00957470471985" pos="-1.38777878078e-17 0.000874845106857 -0.0018" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_69" type="box" size="0.00065 0.00055 0.000911677746745" pos="0.00873832225325 0.0005 -0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_70" type="box" size="0.0003858623979525 0.00055 0.00030958320268" pos="0.00585958320268 0.0005 -0.000864137602047" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_71" type="box" size="0.00065 0.000924845106855 0.00205" pos="0.0036 0.000874845106857 -0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_72" type="box" size="0.00065 0.000924845106855 0.00205" pos="-0.0036 0.000874845106857 -0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_73" type="box" size="0.000373511023913 0.00055 0.00028810574068" pos="-0.00583810574068 0.0005 -0.000876488976087" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_74" type="box" size="0.00065 0.00055 0.000886056143995" pos="-0.008763943856 0.0005 -0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_75" type="box" size="0.00065 0.00055 0.00089079530098" pos="0.00875920469902 0.0005 0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_76" type="box" size="0.000370207150361 0.00055 0.000288700756911" pos="0.00583870075691 0.0005 0.000879792849639" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_77" type="box" size="0.00065 0.000924845106855 0.00205" pos="0.0036 0.000874845106857 0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_78" type="box" size="0.00065 0.000924845106855 0.00205" pos="-0.0036 0.000874845106857 0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_79" type="box" size="0.000393331467992 0.00055 0.000314550834569" pos="-0.00586455083457 0.0005 0.000856668532008" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_80" type="box" size="0.00065 0.00055 0.000912501237885" pos="-0.00873749876212 0.0005 0.0006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_81" type="box" size="0.00065 0.000924845106855 0.00957470471985" pos="0.0 0.000874845106857 0.0018" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_82" type="box" size="0.00125 0.000924845106855 0.0093451600309" pos="0.0 0.000874845106857 0.0036" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_83" type="box" size="0.00125 0.00055 0.00836384387635" pos="0.0 0.0005 0.006" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_84" type="box" size="0.00065 0.00055 0.00639980314655" pos="0.0 0.0005 0.0078" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_85" type="box" size="0.00065 0.00055 0.00469758001545" pos="0.0 0.0005 0.009" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_86" type="box" size="0.001165 0.000924845106855 0.00391247330088" pos="-9.02056207508e-17 0.00262453532057 -0.003345" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_87" type="box" size="0.0006075 0.000924845106855 0.00436837643102" pos="-9.02056207508e-17 0.00262453532057 -0.0016725" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_88" type="box" size="0.0006075 0.000924845106855 0.00144982306103" pos="0.00306017693897 0.00262453532057 -0.0005575" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_89" type="box" size="0.0006075 0.000924845106855 0.00144982306103" pos="-0.00306017693897 0.00262453532057 -0.0005575" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_90" type="box" size="0.0006075 0.000924845106855 0.00144982306103" pos="0.00306017693897 0.00262453532057 0.0005575" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_91" type="box" size="0.0006075 0.000924845106855 0.00144982306103" pos="-0.00306017693897 0.00262453532057 0.0005575" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_92" type="box" size="0.0006075 0.000924845106855 0.00436837643102" pos="-9.02056207508e-17 0.00262453532057 0.0016725" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_93" type="box" size="0.001165 0.000924845106855 0.00391247330088" pos="-9.02056207508e-17 0.00262453532057 0.003345" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_94" type="box" size="0.0225276899832 0.00804999999855 0.0125499999991" pos="-3.31481545054e-06 0.025999381038 0.0125022008495" quat="-0.7069434563391641 -1.9311853198486207e-08 0.7072700683184859 -1.930295465509854e-08" group="3" />
          <geom name="link2_1_col_95" type="box" size="0.0225276898524 0.00900000019525 0.01255010747495" pos="-3.31409972799e-06 0.00904938071844 0.0125022013765" quat="-0.7069434611344553 -1.5092987103990305e-08 0.7072700635254094 -1.508603700511591e-08" group="3" />
          <geom name="link2_1_col_96" type="box" size="0.056556374135 0.001304454888345 0.01705" pos="-3.44630754698e-08 -0.000951348829249 0.0565193255905" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_97" type="box" size="0.02830007890775 0.00067590029986 0.01705002545815" pos="-3.66437715379e-08 0.000923134579298 0.0282685793962" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_98" type="box" size="0.02830006648615 0.000676541138475 0.0170500271175" pos="-3.05395907521e-08 0.000922498364271 0.0847687247901" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_99" type="box" size="0.056421769773 0.000674907003575 0.00855" pos="0.00849996553692 0.00217383151993 0.0565186572755" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_100" type="box" size="0.0564217636175 0.00067489429525 0.00855" pos="-0.00850003446307 0.00217382464507 0.0565186529406" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_101" type="box" size="0.01404045209925 0.00067487731168 0.0170500329742" pos="-4.05907869816e-08 0.00342348879 0.0145473406244" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_102" type="box" size="0.01404042903155 0.00067483106313 0.01705" pos="-3.446307556e-08 0.00342347956819 0.0425282217552" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_103" type="box" size="0.0280308936753 0.00067490372973 0.0170500306205" pos="-3.65971706273e-08 0.00342349980438 0.084499544462" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_104" type="box" size="0.0552468959455 0.00067484484646 0.004299999999995" pos="0.0127499655369 0.00467312791113 0.056518661562" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_105" type="box" size="0.02105207734095 0.00067483106313 0.004299999999995" pos="0.00424996553692 0.00467314169445 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_106" type="box" size="0.055246887882 0.000674848209835 0.0085500000363" pos="-0.00850003447899 0.00467312628172 0.0565186529628" quat="0.7071067815293771 3.314205293536432e-08 -0.7071067808437165 -3.314205293536432e-08" group="3" />
          <geom name="link2_1_col_107" type="box" size="0.0135505068106 0.00067483106313 0.01705" pos="-3.44630756294e-08 0.00592280382071 0.0160171325168" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_108" type="box" size="0.0135505068106 0.00067483106313 0.01705" pos="-3.44630756086e-08 0.00592280382071 0.043018146138" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_109" type="box" size="0.0270510136212 0.00067483106313 0.01705" pos="-3.44630756086e-08 0.00592280382072 0.0835196665699" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_110" type="box" size="0.0264261825581 0.00067483106313 0.01705" pos="-3.44630756433e-08 0.00717246594698 0.0301424703906" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_111" type="box" size="0.0264261825581 0.00067483106313 0.01705" pos="-3.44630756433e-08 0.00717246594698 0.0828948355067" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_112" type="box" size="0.02580135149495 0.00067517862074 0.01705" pos="-3.44630756779e-08 0.00842247563085 0.0307673014537" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_113" type="box" size="0.02580135149495 0.00067517862074 0.01705" pos="-3.44630756641e-08 0.00842247563085 0.0822700044436" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_114" type="box" size="0.0503023457485 0.00067517862074 0.00855" pos="0.00849996553692 0.00967283287232 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_115" type="box" size="0.0503023457485 0.00067517862074 0.00855" pos="-0.00850003446307 0.00967283287232 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_116" type="box" size="0.02455099425345 0.000675199495015 0.01705" pos="-3.44630757335e-08 0.0109232109881 0.0320176586952" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_117" type="box" size="0.02455099425345 0.00067517862074 0.01705" pos="-3.44630757335e-08 0.0109231901138 0.0810196472021" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_118" type="box" size="0.04780163126545 0.0006751917636 0.00855" pos="0.00849996553692 0.0121735342124 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_119" type="box" size="0.04780163126545 0.000675178620795 0.00855" pos="-0.00850003446307 0.0121735473552 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_120" type="box" size="0.023300637012 0.00067517862074 0.01705" pos="-3.4463075789e-08 0.0134239045967 0.0332680159366" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_121" type="box" size="0.023300637012 0.00067517862074 0.01705" pos="-3.4463075789e-08 0.0134239045968 0.0797692899606" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_122" type="box" size="0.02267545839125 0.00067517862074 0.01705" pos="-3.44630758237e-08 0.0146742618382 0.0338931945574" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_123" type="box" size="0.02267545839125 0.00067517862074 0.01705" pos="-3.44630758028e-08 0.0146742618382 0.0791441113399" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_124" type="box" size="0.0220502797705 0.00067518493507 0.01705" pos="-3.44630758445e-08 0.015924625394 0.0345183731781" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_125" type="box" size="0.0220502797705 0.00067518493507 0.01705" pos="-3.44630758445e-08 0.015924625394 0.0785189327192" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_126" type="box" size="0.04273098098575 0.00067545199198 0.00855" pos="0.00849996553692 0.0171749607658 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_127" type="box" size="0.04273098098575 0.00067544448198 0.00855" pos="-0.00850003446307 0.0171749532558 0.0565186529486" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_128" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0103483495706 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_129" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0103483495706 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_130" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0114090097423 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_131" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0114090097423 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_132" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.014531284463 0.0108786796564 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_133" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.015843784463 0.0108786796564 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_134" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.013750034463 0.0108786796564 0.0737839884621" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_135" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.013750034463 0.0108786796564 0.0748446486339" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_136" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0103483495706 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_137" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0103483495706 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_138" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.015187534463 0.0103483495706 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_139" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0114090097423 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_140" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0114090097423 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_141" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.014531284463 0.0114090097423 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_142" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.015843784463 0.0114090097423 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_143" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0245909902577 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_144" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0245909902577 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_145" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0256516504295 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_146" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0256516504295 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_147" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.014531284463 0.0251213203436 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_148" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.015843784463 0.0251213203436 0.0727233282903" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_149" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.013750034463 0.0251213203436 0.0737839884621" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_150" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.013750034463 0.0251213203436 0.0748446486339" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_151" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0245909902577 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_152" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0245909902577 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_153" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.015187534463 0.0245909902577 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_154" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.011906284463 0.0256516504295 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_155" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.013218784463 0.0256516504295 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_156" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.015187534463 0.0256516504295 0.0759053088056" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_157" type="box" size="0.00255 0.00405 0.001425" pos="-0.017875034463 0.012 0.074314318548" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_158" type="box" size="0.00255 0.00405 0.001425" pos="-0.017875034463 0.024 0.074314318548" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_159" type="box" size="0.00255 0.0068 0.001425" pos="-0.020625034463 0.018 0.074314318548" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_160" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0103483495706 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_161" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0103483495706 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_162" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0145312844631 0.0103483495705 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_163" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0158437844631 0.0103483495705 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_164" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0114090097423 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_165" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0114090097423 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_166" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.0151875344631 0.0114090097423 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_167" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.0137500344631 0.0108786796564 0.0381926572634" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_168" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.0137500344631 0.0108786796564 0.0392533174352" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_169" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0103483495706 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_170" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0103483495706 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_171" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0114090097423 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_172" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0114090097423 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_173" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.0145312844631 0.0108786796564 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_174" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.0158437844631 0.0108786796564 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_175" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0245909902577 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_176" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0245909902577 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_177" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.0151875344631 0.0245909902577 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_178" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0256516504294 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_179" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0256516504294 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_180" type="box" size="0.00058033008589 0.00058033008589 0.0013625" pos="-0.0151875344631 0.0256516504294 0.0371319970917" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_181" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.0137500344631 0.0251213203436 0.0381926572634" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_182" type="box" size="0.00058033008589 0.00217132034356 0.0028" pos="-0.0137500344631 0.0251213203436 0.0392533174352" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_183" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0245909902577 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_184" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0245909902577 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_185" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0119062844631 0.0256516504294 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_186" type="box" size="0.00058033008589 0.00058033008589 0.00070625" pos="-0.0132187844631 0.0256516504294 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_187" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.0145312844631 0.0251213203436 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_188" type="box" size="0.00058033008589 0.00111066017178 0.00070625" pos="-0.0158437844631 0.0251213203436 0.040313977607" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_189" type="box" size="0.00255 0.00405 0.001425" pos="-0.0178750344631 0.012 0.0387229873493" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_190" type="box" size="0.00255 0.00405 0.001425" pos="-0.0178750344631 0.024 0.0387229873493" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_191" type="box" size="0.00255 0.0068 0.001425" pos="-0.0206250344631 0.018 0.0387229873493" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_192" type="box" size="0.02252768997885 0.00899999948235 0.01255010747485" pos="2.41180223085e-05 0.0269493840263 0.10049949184" quat="0.7075064609012104 1.922295755755448e-08 -0.7067068754321295 1.9244726589633405e-08" group="3" />
          <geom name="link2_1_col_193" type="box" size="0.00125 0.001300000346975 0.00639980314655" pos="3.39608420391e-05 4.93836721801e-05 0.104600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_194" type="box" size="0.00065 0.00130000021676 0.0075439976292" pos="3.39608731695e-05 4.9383749467e-05 0.106400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_195" type="box" size="0.00065 0.0013 0.002128460945305" pos="0.00626934377306 4.93841262523e-05 0.107600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_196" type="box" size="0.00065 0.0024000001516 0.00108923047265" pos="0.00315165235511 0.00114938398193 0.107600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_197" type="box" size="0.00065 0.0024000001502 0.00108923047265" pos="0.0010731914098 0.00114938398053 0.107600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_198" type="box" size="0.00065 0.002400000142315 0.001734059914285" pos="-0.00165009897713 0.00114938385907 0.107600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_199" type="box" size="0.00065 0.0013 0.001236537544315" pos="-0.00709334529975 4.93833921283e-05 0.107600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_200" type="box" size="0.00065 0.00130000007115 0.00135210001742" pos="0.00763129900913 4.93842210455e-05 0.108800835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_201" type="box" size="0.00065 0.0024000001516 0.00213077918797" pos="0.00211474011709 0.00114938391293 0.108800835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_202" type="box" size="0.00065 0.002400000253535 0.002274859524355" pos="-0.00219089859523 0.00114938381099 0.108800835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_203" type="box" size="0.00065 0.001299999997355 0.002274859524355" pos="-0.00664061764395 4.93835601055e-05 0.108800835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_204" type="box" size="0.00065 0.00239999977989 0.0093451600309" pos="3.39608420391e-05 0.00114938407209 0.110000835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_205" type="box" size="0.00065 0.002400000226645 0.0095747047823" pos="3.39609044939e-05 0.00114938420912 0.111200835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_206" type="box" size="0.00065 0.002400000010125 0.00404999996652" pos="0.00563396087552 0.00114938442564 0.112400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_207" type="box" size="0.00065 0.002400000129315 0.00404999990925" pos="-0.00556603924871 0.00114938393693 0.112400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_208" type="box" size="0.00065 0.002400000129315 0.00405000009075" pos="0.00563396075129 0.00114938420094 0.113600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_209" type="box" size="0.00065 0.0024000002485 0.00405000003348" pos="-0.00556603912448 0.00114938371223 0.113600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_210" type="box" size="0.00065 0.002400000031985 0.0095747046574" pos="3.39609044939e-05 0.00114938392875 0.114800835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_211" type="box" size="0.00065 0.002400000478735 0.0093451600309" pos="3.39608420391e-05 0.00114938406578 0.116000835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_212" type="box" size="0.00065 0.001224999976495 0.0089494381402" pos="3.39608967867e-05 -2.56157298084e-05 0.117200835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_213" type="box" size="0.00065 0.000637499945625 0.00449971908816" pos="0.00448367993839 0.00173688419231 0.117200835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_214" type="box" size="0.00065 0.000637499945625 0.004499719093385" pos="-0.00441575824315 0.00173688419231 0.117200835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_215" type="box" size="0.00065 0.000637500057905 0.00393973003252" pos="3.39607860295e-05 0.00291188419584 0.117200835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_216" type="box" size="0.00065 0.0006375002894 0.00836384390475" pos="3.39609144419e-05 -0.000613115796807 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_217" type="box" size="0.00065 0.00063749996019 0.00836384390475" pos="3.39609144419e-05 0.000561884452785 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_218" type="box" size="0.00065 0.000125000018911 0.001236537543205" pos="0.00716126718658 0.00122438443189 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_219" type="box" size="0.00065 0.00063749996019 0.00173405986791" pos="0.00171802071244 0.00173688437317 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_220" type="box" size="0.00065 0.00063749996019 0.00212846096846" pos="-0.00204450012393 0.00173688437317 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_221" type="box" size="0.00065 0.0001249996700045 0.00212846096846" pos="-0.00620142206085 0.00122438408298 0.118400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_222" type="box" size="0.0002999999809635 0.00063750008299 0.0022972204241" pos="3.39607860295e-05 0.00291188441635 0.118050835031" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_223" type="box" size="0.00065 0.00129999978324 0.00754399756695" pos="3.39608731695e-05 4.93841297712e-05 0.119600835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_224" type="box" size="0.00125 0.001299999653025 0.00639980314655" pos="3.39608420391e-05 4.9384207058e-05 0.121400835051" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_225" type="box" size="0.001165 0.00092512393288 0.00391247330088" pos="3.90509344329e-05 0.0333745078374 0.109653591904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_226" type="box" size="0.0006075 0.00092512368866 0.00436837647045" pos="3.90509738597e-05 0.0333745080817 0.111326091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_227" type="box" size="0.0006075 0.00092512368866 0.00145312290296" pos="0.00309592812711 0.0333745080817 0.112441091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_228" type="box" size="0.0006075 0.000925123852105 0.001448031010045" pos="-0.00302291795988 0.0333745079182 0.112441091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_229" type="box" size="0.0006075 0.00092512371996 0.00145161730833" pos="0.00309743372174 0.0333745080503 0.113556091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_230" type="box" size="0.0006075 0.000925123883215 0.001446525415415" pos="-0.00302442355451 0.0333745078871 0.113556091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_231" type="box" size="0.0006075 0.000925123883215 0.004368376391595" pos="3.90509738597e-05 0.0333745078871 0.114671091904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_232" type="box" size="0.001165 0.00092512363899 0.00391247330088" pos="3.90509344329e-05 0.0333745081313 0.116343591904" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_233" type="box" size="0.00125000001857 0.000550000346975 0.00639980318865" pos="3.90508387932e-05 0.0354998792237 0.104598591857" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_234" type="box" size="0.00125 0.000549999653025 0.00836384385975" pos="3.90508768376e-05 0.0354998792237 0.106998591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_235" type="box" size="0.00065 0.00055 0.001697334457405" pos="0.00729115462055 0.0354998798437 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_236" type="box" size="0.00065 0.00092512385216 0.00112243057009" pos="0.00325634254735 0.0351247556225 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_237" type="box" size="0.00065 0.000925123829875 0.00112243055933" pos="0.00111148141793 0.0351247556002 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_238" type="box" size="0.00065 0.00092512373489 0.00112368140766" pos="-0.00103463054906 0.0351247555052 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_239" type="box" size="0.00065 0.0009251237126 0.00112368140766" pos="-0.00318199336438 0.0351247554829 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_240" type="box" size="0.00065 0.00055 0.00169483275931" pos="-0.00721555460144 0.0354998788711 0.108798591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_241" type="box" size="0.00065 0.00092512355041 0.00934516000835" pos="3.90508709103e-05 0.0351247553207 0.109998591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_242" type="box" size="0.00065 0.000925124098365 0.0095747047495" pos="3.90508637751e-05 0.0351247558687 0.111198591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_243" type="box" size="0.00065 0.00092512388166 0.00405338785862" pos="0.00563566298017 0.035124755652 0.112398591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_244" type="box" size="0.00065 0.00092512359813 0.004048296061345" pos="-0.00556265309986 0.0351247553684 0.112398591876" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_245" type="box" size="0.00064999999768 0.00092512412271 0.00405170639119" pos="0.0056373444476 0.035124755893 0.113598591873" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_246" type="box" size="0.00064999999768 0.000925123838805 0.004046614593915" pos="-0.00556433456729 0.0351247556091 0.113598591873" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_247" type="box" size="0.00064999999768 0.000925123622475 0.00957470469075" pos="3.90508637751e-05 0.0351247553928 0.114798591869" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_248" type="box" size="0.00064999999768 0.00092512417043 0.0093451600558" pos="3.90508709103e-05 0.0351247559407 0.115998591864" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_249" type="box" size="0.00064999999768 0.00055 0.00170051150119" pos="0.00728797751273 0.0354998801112 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_250" type="box" size="0.00064999999768 0.000925124008255 0.00112401909735" pos="0.00326110815065 0.0351247557786 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_251" type="box" size="0.00064999999768 0.00092512398597 0.00112401909735" pos="0.00111306995595 0.0351247557563 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_252" type="box" size="0.00064999999768 0.00092512389081 0.00112526994628" pos="-0.00103621908768 0.0351247556611 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_253" type="box" size="0.00064999999768 0.000925123868525 0.00112526993506" pos="-0.00318675896902 0.0351247556388 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_254" type="box" size="0.00064999999768 0.00055 0.00169800980477" pos="-0.00721237749194 0.0354998791386 0.11719859186" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_255" type="box" size="0.001249999995355 0.000550000346975 0.00836384390365" pos="3.90508768376e-05 0.0354998797586 0.118998591853" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_256" type="box" size="0.001249999995355 0.000549999653025 0.00639980313605" pos="3.90508387931e-05 0.0354998797586 0.121398591843" quat="0.7071067811882787 7.960233083564248e-15 -0.7071067811848163 7.96023308352527e-15" group="3" />
          <geom name="link2_1_col_257" type="box" size="0.0225276897142 0.00805030949955 0.01254999999805" pos="2.41189581953e-05 0.00999907506773 0.100499492648" quat="0.7075064610743536 1.927382192581223e-08 -0.7067068752587905 1.9295648516538207e-08" group="3" />
          <body name="link3_1" pos="3.39589458789e-05 0.035999879491 0.113000833762">
            <joint name="link2_to_link3" type="hinge" axis="5.4643524895e-08 -1.0 3.71447673953e-08" range="-1.57079632679 2.67035375555" />
            <inertial pos="0.0899345844067 -0.0180532098499 0.030929698344" mass="0.121036400289" fullinertia="4.68441522042e-05 0.000261776819052 0.000274572705914 -3.51127629536e-07 -2.45262905805e-05 -1.941119197e-08" />
            <geom name="link3_1_vis_0" type="mesh" mesh="link3_1_0p001_0p001_0p001" pos="-0.0340339589459 -0.017999879491 -0.211357541714" contype="0" conaffinity="0" group="2" material="silver" />
            <geom name="link3_1_col_0" type="box" size="0.0055148865429 0.00396475689882 0.0150436762709" pos="-0.00941909344507 0.00386881547855 -0.00114029147899" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_1" type="box" size="0.00551490461055 0.003445245208825 0.0204782795798" pos="-0.000304796084933 0.00228342496749 0.00658005619329" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_2" type="box" size="0.01097952983515 0.002377976457115 0.02599114821695" pos="0.0134550087721 0.000187911678261 0.0180485414641" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_3" type="box" size="0.0076090299298 0.00513492410135 0.00403272526758" pos="0.041229655784 -0.0179401476914 0.0206384019378" quat="0.995631287214809 0.0005037531875055627 -0.005382245304139322 -0.09321543642119927" group="3" />
            <geom name="link3_1_col_4" type="box" size="0.00749907762595 0.00445139810477 0.004230893413855" pos="0.0409835027001 -0.0186272637267 0.0444373410719" quat="0.9953494418112384 0.02512338428643605 -0.003078358526140084 -0.0929452955067484" group="3" />
            <geom name="link3_1_col_5" type="box" size="0.00947341917155 0.002542301179645 0.01619013965395" pos="0.0403877932338 -0.01088352458 0.0326472764893" quat="0.9953248361110015 0.02469657262682807 -0.007645798167747434 -0.09305961364347952" group="3" />
            <geom name="link3_1_col_6" type="box" size="0.0164367144184 0.001296178415795 0.01694252226745" pos="0.0380419998822 -0.0066091729913 0.0321880256376" quat="0.9938539478791872 0.020275468652746095 -0.05462891078835717 -0.0941218240470452" group="3" />
            <geom name="link3_1_col_7" type="box" size="0.026293962374 0.00129610939087 0.01612952803595" pos="0.0432242946919 -0.00507124893105 0.0326779426154" quat="0.9953248361129708 0.02469657249475343 -0.007645797915533175 -0.09305961367819017" group="3" />
            <geom name="link3_1_col_8" type="box" size="0.01418746406425 0.002542219380965 0.0238479313881" pos="-0.0023699177243 0.00852012029337 0.0095093635977" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_9" type="box" size="0.01418744544995 0.002542200765395 0.0247602358435" pos="0.022920792125 0.00310018628705 0.0222383645067" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_10" type="box" size="0.0141874454492 0.002542200765395 0.02034143016695" pos="0.0488201853332 -0.00231950228763 0.0327384464126" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_11" type="box" size="0.0071187227246 0.002542200765395 0.01851512270875" pos="0.070335035442 -0.00638350088646 0.0329592747266" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_12" type="box" size="0.00725225271645 0.001404666975845 0.0179288621484" pos="0.0847640939464 -0.00664687541617 0.0336024908124" quat="0.9911305600076031 4.963377168225334e-05 -0.13289172479312983 -6.083649252648416e-06" group="3" />
            <geom name="link3_1_col_13" type="box" size="0.0149904720988 0.001296126717265 0.0257496983788" pos="0.0043554320711 0.0108199120699 0.0142107117007" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_14" type="box" size="0.0149904720988 0.001296100382695 0.0228861532626" pos="0.0314011142359 0.00509224353878 0.0264966673539" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_15" type="box" size="0.0149904720988 0.001296100382695 0.0204849432475" pos="0.0600642118115 -0.000634816112983 0.0328600181527" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_16" type="box" size="0.0149904720988 0.001296100382695 0.0199681294551" pos="0.090239433687 -0.00636132031578 0.0336863058091" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_17" type="box" size="0.0188294893311 0.00129636530816 0.02091650410475" pos="0.0150936525511 0.0110566717417 0.0196344342436" quat="0.9482466827414817 -0.00402339107073435 -0.3025858824843737 -0.09619680200100443" group="3" />
            <geom name="link3_1_col_18" type="box" size="0.01588051568255 0.001296158769975 0.02120331217585" pos="0.0392758047541 0.00594753467488 0.0303914736099" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_19" type="box" size="0.01588050606245 0.001296100382695 0.02071336175915" pos="0.0707819335892 -0.000120339475517 0.0329758994643" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_20" type="box" size="0.0178010319585 0.001296100374235 0.01612952818355" pos="0.100227283938 -0.00568318374833 0.0332942664331" quat="0.9953248360802521 0.024696571401452844 -0.007645802175927941 -0.09305961396824372" group="3" />
            <geom name="link3_1_col_21" type="box" size="0.0160867152338 0.00254223803094 0.00809878788025" pos="0.0257500646899 0.0132128106114 0.0127623343423" quat="0.9400983295338896 -0.006511564741124975 -0.32702464496839145 -0.09606045968820787" group="3" />
            <geom name="link3_1_col_22" type="box" size="0.01296526153755 0.002542200765395 0.00858705965195" pos="0.0494700325872 0.00828535724381 0.0216763233285" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_23" type="box" size="0.030914314543 0.001296247229275 0.0119045642902" pos="0.0268735491768 0.0105006601518 0.0366439848865" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_24" type="box" size="0.028690644178 0.00129629012428 0.00955890997185" pos="0.0306484238454 0.0121924545356 0.0392901068125" quat="0.9940359047090717 0.020599084293556637 -0.05121140250856054 -0.09405152911351725" group="3" />
            <geom name="link3_1_col_25" type="box" size="0.0194677974872 0.002542269286825 0.0063513281328" pos="0.0449381366653 0.0144189517615 0.0177675480387" quat="0.9857715019333695 0.0123106733600828 -0.13778437351555387 -0.09549062630633848" group="3" />
            <geom name="link3_1_col_26" type="box" size="0.02558717177805 0.00209789721526 0.00610276419795" pos="0.0325180311539 0.0149907464497 0.043257926725" quat="0.9925102942411136 0.01832294799188218 -0.07518845280010275 -0.0945213307557158" group="3" />
            <geom name="link3_1_col_27" type="box" size="0.00776607863575 0.00432592436669 0.0187273897406" pos="0.0677232743823 0.0060810683273 0.0329966551389" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_28" type="box" size="0.00776607863575 0.00375203116435 0.0186985703467" pos="0.0832640401881 0.00256035753612 0.0331646839452" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_29" type="box" size="0.00776607863575 0.00387629119119 0.01873478146065" pos="0.0989510065051 -0.00027513751097 0.0333052957312" quat="0.9865253380192716 0.01284356907658306 -0.13227904238769325 -0.09542041251394834" group="3" />
            <geom name="link3_1_col_30" type="box" size="0.0053857639935 0.004360289407435 0.00895665310215" pos="0.114398510658 -0.00205912405858 0.0257858089674" quat="0.9875364159804068 -0.010953190586725827 -0.12681448296479503 -0.09257397927558185" group="3" />
            <geom name="link3_1_col_31" type="box" size="0.0077758911346 0.0050375878656 0.00857084355495" pos="0.112047363886 -0.00236754309188 0.0430720674437" quat="0.9876260157451194 -0.010464755436944199 -0.12916224996986203 -0.08833150683526621" group="3" />
            <geom name="link3_1_col_32" type="box" size="0.00446928149243 0.0056208221038 0.0142485368314" pos="-0.00987589662005 -0.0424891751178 -0.00136588370018" quat="0.9884086100183398 0.04909455254209823 -0.12926556748790421 0.06267820685321612" group="3" />
            <geom name="link3_1_col_33" type="box" size="0.004468362525405 0.00564295022545 0.00949674792235" pos="0.000213981778718 -0.0422666967233 -0.00466177585423" quat="0.9895996376524231 -0.007447993775704063 -0.13263509453815717 0.0551816658299111" group="3" />
            <geom name="link3_1_col_34" type="box" size="0.004467967294615 0.0060601418674 0.0107611178647" pos="-0.00453583218211 -0.0441215731668 0.0135290215111" quat="0.9848497183501911 0.09712305450032492 -0.12606316883389454 0.06889282991453598" group="3" />
            <geom name="link3_1_col_35" type="box" size="0.00446797901703 0.00644971913875 0.01162051642285" pos="0.00822300159475 -0.0430686956918 0.000103280051678" quat="0.9895994769837695 -0.007398026376156257 -0.13263216015200277 0.05519831929145278" group="3" />
            <geom name="link3_1_col_36" type="box" size="0.004468054516315 0.0089543074842 0.0116201622032" pos="0.00231309443496 -0.0447675524039 0.0224771848954" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_37" type="box" size="0.00446796729452 0.0069683283916 0.01272709354475" pos="0.0156202457257 -0.0435656412472 0.0069790015776" quat="0.9856519038881856 -0.0886125261506535 -0.13671589225665084 0.04412379602054406" group="3" />
            <geom name="link3_1_col_38" type="box" size="0.00446824985998 0.00983867200475 0.012358541796" pos="0.00961371408277 -0.0451428265416 0.0296548141094" quat="0.9896044774046512 0.006696030923313854 -0.13183259558753876 0.057081592577589366" group="3" />
            <geom name="link3_1_col_39" type="box" size="0.004467967294475 0.00839575063005 0.01321174042115" pos="0.0231796418099 -0.0430751995418 0.0128410038951" quat="0.9719976004947724 -0.18596376013204177 -0.14041898723867474 0.03034225721369434" group="3" />
            <geom name="link3_1_col_40" type="box" size="0.004468444731025 0.0105930530235 0.01173657038435" pos="0.017512139558 -0.0447798764278 0.03432892888" quat="0.9896264726884234 -0.0011376616083724495 -0.13228034354876897 0.05603624711696641" group="3" />
            <geom name="link3_1_col_41" type="box" size="0.0022589979127 0.00896096669375 0.01267085044705" pos="0.02904291588 -0.0422044258999 0.0163140837427" quat="0.952756489940334 -0.2676133914620198 -0.14248417893621945 0.01834127420986474" group="3" />
            <geom name="link3_1_col_42" type="box" size="0.00225930571971 0.01284058867725 0.0097983733575" pos="0.0329447042722 -0.0423961479963 0.0189844362685" quat="0.9471419738274506 0.28685102865063694 -0.110252635255761 0.09210279689278103" group="3" />
            <geom name="link3_1_col_43" type="box" size="0.004468337284585 0.0112481893711 0.01065675080425" pos="0.025661593697 -0.0432965975253 0.0376072816755" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_44" type="box" size="0.002259213217525 0.00902152936655 0.0191187427135" pos="0.0345907171076 -0.044739354697 0.0308308651564" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_45" type="box" size="0.002259071111835 0.0090360133877 0.01777699618945" pos="0.0387461226661 -0.0442623841762 0.0322874917901" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_46" type="box" size="0.004468018577355 0.00454302394863 0.01770552094925" pos="0.0348771064848 -0.0311125053332 0.0324322165702" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_47" type="box" size="0.004296275684265 0.00454304536695 0.016294013934" pos="0.0343811769559 -0.0221632455528 0.0311044615952" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_48" type="box" size="0.002258992959835 0.01763162934135 0.0086787383024" pos="0.0444330685482 -0.0352075104408 0.0244871892781" quat="0.9896025304742395 0.006979921555177571 -0.131816103911547 0.057119411093301924" group="3" />
            <geom name="link3_1_col_49" type="box" size="0.002259280803325 0.0167978858745 0.0086514338986" pos="0.0398486713337 -0.0342429838994 0.0408715993642" quat="0.9896025083985169 0.006980728877195024 -0.13181618108173324 0.05711951681110222" group="3" />
            <geom name="link3_1_col_50" type="box" size="0.001154491893515 0.0174065303879 0.01686730419965" pos="0.0455799206166 -0.0346331727408 0.0327034134589" quat="0.9896025290921963 0.006980082084290907 -0.13181609653288456 0.05711943244867354" group="3" />
            <geom name="link3_1_col_51" type="box" size="0.001154491824155 0.01663897169475 0.01733588129925" pos="0.0478405600614 -0.0343632321568 0.0327478864318" quat="0.989599476922341 -0.007398021964871828 -0.1326321606268568 0.055198319842981444" group="3" />
            <geom name="link3_1_col_52" type="box" size="0.004468049431955 0.01195429293 0.00911222304695" pos="0.0563600013151 -0.0380596527088 0.0242103885521" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_53" type="box" size="0.004468049431955 0.0078159592762 0.0088856702153" pos="0.0519279661713 -0.0406621113783 0.0415535853696" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_54" type="box" size="0.0057218663727 0.00798082954205 0.00431484469035" pos="0.0493387138874 -0.0252266139483 0.04447989487" quat="0.9983283548172629 -0.00031109341034174807 -0.005396866013632207 0.05754366190970147" group="3" />
            <geom name="link3_1_col_55" type="box" size="0.00225902471585 0.010123252507 0.01741573617565" pos="0.0608715431309 -0.037762059312 0.032879682508" quat="0.9895987002532881 -0.007501194261989663 -0.13263791466540964 0.05518449179668339" group="3" />
            <geom name="link3_1_col_56" type="box" size="0.002259024715975 0.00952949049645 0.0173973331801" pos="0.0653982187351 -0.0371734593132 0.0329284407037" quat="0.9895990805325947 -0.007450856239865014 -0.13263510745172427 0.055191238630834034" group="3" />
            <geom name="link3_1_col_57" type="box" size="0.00225902471628 0.0089357258239 0.01737920959735" pos="0.069924851209 -0.0365849336908 0.0329773885186" quat="0.9895994768722554 -0.007398027296069472 -0.13263216098392283 0.05519831916843156" group="3" />
            <geom name="link3_1_col_58" type="box" size="0.002259024715005 0.0083419386386 0.01736194980555" pos="0.074451302584 -0.0359948297514 0.0330263290495" quat="0.989599476829263 -0.007398030305869968 -0.1326321610839072 0.05519831929556395" group="3" />
            <geom name="link3_1_col_59" type="box" size="0.00446804943202 0.00774815168645 0.01790841079765" pos="0.0812440385339 -0.0351590581975 0.0331095204052" quat="0.9895994768868516 -0.007398026474223514 -0.13263216087501734 0.05519831927857763" group="3" />
            <geom name="link3_1_col_60" type="box" size="0.00446804944012 0.0065605770076 0.01787561904165" pos="0.0902973962065 -0.0339788501501 0.0332057347728" quat="0.9895994767872489 -0.007398049136335225 -0.132632161618175 0.0551983162412596" group="3" />
            <geom name="link3_1_col_61" type="box" size="0.004468049486645 0.0055756111793 0.0178664502867" pos="0.0993787116914 -0.0329999935229 0.0332850926118" quat="0.989599478470081 -0.007398033857230682 -0.1326321490623185 0.055198318288710316" group="3" />
            <geom name="link3_1_col_62" type="box" size="0.00671011334215 0.00505012523385 0.0093261133611" pos="0.111266804443 -0.0330001183339 0.0266893485024" quat="0.9999853884297636 -1.052798368756491e-08 -0.005405823431656728 1.8801637324328137e-08" group="3" />
            <geom name="link3_1_col_63" type="box" size="0.0089413645729 0.005050125295 0.00889779545275" pos="0.109955564651 -0.0330001176872 0.0430600259401" quat="0.9911369308717004 -1.4778442869813847e-08 -0.1328442104956969 2.9546830054192627e-08" group="3" />
            <geom name="link3_1_col_64" type="box" size="0.00154999999999 0.00154999999999 0.002800000000035" pos="0.0424690895127 -0.0251213163356 0.045420523643" quat="0.9990336227153245 -0.00023581720347472555 -0.005400678777318617 0.043618777416215504" group="3" />
            <geom name="link3_1_col_65" type="box" size="0.00155 0.00155 0.00279999999998" pos="0.0424690887356 -0.0108786756486 0.0454205231136" quat="0.9990336251232249 0.0002357805797348977 -0.005400680376386732 -0.043618722266222064" group="3" />
            <geom name="link3_1_col_66" type="box" size="0.002550000000005 0.00404999999999 0.001424999999995" pos="0.0424244920491 -0.0239999958414 0.049545282512" quat="0.9999853884227458 -1.8413322217002523e-08 -0.005405824729788069 2.7424464579803635e-08" group="3" />
            <geom name="link3_1_col_67" type="box" size="0.002549999999985 0.004049999999965 0.001424999999995" pos="0.0424244913935 -0.0119999958414 0.0495452820665" quat="0.9999853884227458 -1.8413322217002523e-08 -0.005405824729788069 2.7424464579803635e-08" group="3" />
            <geom name="link3_1_col_68" type="box" size="0.002550000000015 0.0067999999999 0.00142499999996" pos="0.0423947601197 -0.0179999957411 0.052295121563" quat="0.9999853884227458 -1.8413322217002523e-08 -0.005405824729788069 2.7424464579803635e-08" group="3" />
            <geom name="link3_1_col_69" type="box" size="0.0225276899726 0.009000000339 0.01255010747485" pos="0.122558455447 -0.0090501079273 0.0335087799653" quat="0.9999874160306752 3.869269085427682e-09 -0.005016749973051361 3.285698703876635e-08" group="3" />
            <geom name="link3_1_col_70" type="box" size="0.00469758001545 0.00130000007571 0.00065" pos="0.137236534385 -0.0359501065512 0.0249049191886" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_71" type="box" size="0.00639980330175 0.00129999992363 0.00065" pos="0.1369462282 -0.0359501063318 0.0260692740825" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_72" type="box" size="0.00754399769915 0.00130000011766 0.00065" pos="0.136655921934 -0.0359501066912 0.0272336289561" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_73" type="box" size="0.002128460965705 0.00130000003285 0.00065" pos="0.130315450184 -0.0359501070774 0.0268895081529" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_74" type="box" size="0.002128460965705 0.001225000157275 0.00065" pos="0.134348893773 -0.0360251065414 0.0278951585892" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_75" type="box" size="0.002128460965705 0.000637499987035 0.00065" pos="0.134348893676 -0.0342626063971 0.0278951585237" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_76" type="box" size="0.00117361021175 0.000637500113855 0.0002999999719425" pos="0.135190708548 -0.033087606229 0.0284657613159" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_77" type="box" size="0.00108923048454 0.00240000030182 0.00065" pos="0.137373976398 -0.0348501061266 0.0286493963711" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_78" type="box" size="0.00108923048454 0.002400000266905 0.00065" pos="0.139390698194 -0.034850105967 0.0291522215887" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_79" type="box" size="0.002128461054855 0.0013 0.00065" pos="0.142415781031 -0.0359501059636 0.0299064594766" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_80" type="box" size="0.00934516009485 0.00240000021519 0.00125" pos="0.135930156151 -0.0348501061009 0.0301445160851" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_81" type="box" size="0.0095747047747 0.002400000365675 0.00065" pos="0.13549469673 -0.0348501062598 0.0318910483902" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_82" type="box" size="0.00205000002536 0.0013 0.00065" pos="0.127830142967 -0.0359501075089 0.0312167968889" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_83" type="box" size="0.00204999996958 0.002400000373775 0.00065" pos="0.131711325807 -0.034850106714 0.0321844844292" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_84" type="box" size="0.002049999951205 0.00240000022573 0.00065" pos="0.138697455158 -0.0348501060011 0.033926322108" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_85" type="box" size="0.000288363037913 0.0013 0.0003718145084775" pos="0.140936628422 -0.0359501060944 0.0341979089727" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_86" type="box" size="0.0008883856606 0.001299999970365 0.00065" pos="0.1437057475 -0.0359501057912 0.0351750296612" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_87" type="box" size="0.002050000022455 0.0013 0.000649999991445" pos="0.127539836781 -0.0359501074815 0.0323811517738" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_88" type="box" size="0.002050000022455 0.002400000373775 0.000649999991445" pos="0.13142101967 -0.0348501068181 0.0333488393262" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_89" type="box" size="0.00205000000408 0.002400000291655 0.000649999991445" pos="0.13840714875 -0.0348501060392 0.0350906769375" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_90" type="box" size="0.002049999994565 0.001300000030515 0.000649999991445" pos="0.142288331714 -0.0359501059681 0.0360583645604" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_91" type="box" size="0.00957470470475 0.00240000023383 0.000649999991445" pos="0.134623777948 -0.0348501065593 0.035384112989" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_92" type="box" size="0.0093451599758 0.002400000040295 0.00124999998289" pos="0.134188318515 -0.0348501063743 0.0371306452645" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_93" type="box" size="0.0083638439111 0.00122500009182 0.000649999991445" pos="0.133752859116 -0.0360251064494 0.0388771775764" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_94" type="box" size="0.00212846104329 0.0001249996774045 0.000649999991445" pos="0.12770269369 -0.0347751070668 0.0373687018843" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_95" type="box" size="0.002128460957515 0.00063750000625 0.000649999991445" pos="0.131736137314 -0.0342626064802 0.0383743523156" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_96" type="box" size="0.002128460957515 0.00063750000625 0.000649999991445" pos="0.135769580882 -0.0342626062224 0.0393800027451" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_97" type="box" size="0.00212846095792 0.0001249997984085 0.000649999991445" pos="0.139803024479 -0.0347751061725 0.0403856531938" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_98" type="box" size="0.002297220771455 0.00063750000625 0.0003000000622735" pos="0.13383753156 -0.0330876063468 0.0385375740213" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_99" type="box" size="0.00754399766655 0.0013 0.000649999991445" pos="0.133462552836 -0.0359501068452 0.0400415324272" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_100" type="box" size="0.00639980326295 0.0013 0.000649999991445" pos="0.133172246566 -0.0359501070105 0.0412058872821" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_101" type="box" size="0.00469758006195 0.0013 0.000649999991445" pos="0.13288194046 -0.0359501069432 0.0423702421782" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_102" type="box" size="0.00469758001096 0.001149999993575 0.00064999999876" pos="0.137233464801 -0.00110026141238 0.0249013326208" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_103" type="box" size="0.00639980314655 0.001150000006415 0.00064999999876" pos="0.13694315852 -0.00110026140117 0.0260656874883" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_104" type="box" size="0.00836384387345 0.00115 0.00125" pos="0.136507699115 -0.00110026137453 0.027812219796" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_105" type="box" size="0.0093451600268 0.001724999979625 0.00125" pos="0.135927086594 -0.00167526131942 0.0301409295598" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_106" type="box" size="0.0095747047161 0.001724999995785 0.00065" pos="0.135491627182 -0.00167526126322 0.031887461867" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_107" type="box" size="0.00090227950565 0.00115 0.00065" pos="0.126713445062 -0.00110026176279 0.0309355515921" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_108" type="box" size="0.0003012528841225 0.000599999989255 0.000382095514025" pos="0.129591549669 -0.00165026160704 0.0313770376642" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_109" type="box" size="0.0003012528840675 0.000600000009995 0.000382095514025" pos="0.129591549609 -0.000550261607793 0.0313770376233" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_110" type="box" size="0.002051475051685 0.0017250011918 0.00065" pos="0.131712549998 -0.0016752626423 0.0321819684554" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_111" type="box" size="0.00204955366855 0.001724999997965 0.00065" pos="0.138695684739 -0.00167526103716 0.0339230594938" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_112" type="box" size="0.000301833169507 0.000599999996955 0.000383612776802" pos="0.140944640666 -0.00165026091023 0.0342092448803" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_113" type="box" size="0.000301833169507 0.0006000000038 0.000383612776802" pos="0.140944640606 -0.000550260909476 0.0342092448394" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_114" type="box" size="0.00089977783112 0.001150000002535 0.00065" pos="0.143691624047 -0.00110026072965 0.0351686870503" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_115" type="box" size="0.00090022582864 0.001149999997465 0.00065" pos="0.126421146113 -0.00110026173841 0.0320994096342" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_116" type="box" size="0.000298172322697 0.000599999989435 0.000377894114528" pos="0.129171599348 -0.00165026157102 0.0330656106932" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_117" type="box" size="0.000298172322697 0.000600000009825 0.000377894114528" pos="0.129171599287 -0.000550261571765 0.0330656106524" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_118" type="box" size="0.00205044816045 0.001725000002035 0.00065" pos="0.131419254565 -0.00167526143075 0.0333455780461" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_119" type="box" size="0.002048526779275 0.001725001179315 0.00065" pos="0.138408367623 -0.00167526219636 0.0350881596464" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_120" type="box" size="0.0002987526092875 0.00059999999585 0.000379394203137" pos="0.14052342774 -0.00165026087567 0.0358943933833" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_121" type="box" size="0.0002987526092875 0.00060000000489 0.000379394203137" pos="0.14052342768 -0.000550260874931 0.0358943933424" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_122" type="box" size="0.000897724156755 0.00115 0.00065" pos="0.143403310443 -0.00110026070503 0.0363335387506" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_123" type="box" size="0.0095747047236 0.0017250000042 0.00065" pos="0.134620708358 -0.00167526120488 0.0353805264816" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_124" type="box" size="0.00934516003495 0.001725000020375 0.00125" pos="0.134185248946 -0.00167526114866 0.037127058789" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_125" type="box" size="0.0083638438792 0.00115 0.00125" pos="0.133604636368 -0.00110026109355 0.0394557685114" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_126" type="box" size="0.00639980314655 0.00114999999359 0.00065" pos="0.133169176949 -0.0011002610669 0.041202300817" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_127" type="box" size="0.00469758002443 0.001150000006405 0.000650000002485" pos="0.13287887068 -0.00110026105572 0.0423666556926" quat="0.992546151641334 -1.5104261834173182e-08 -0.1218693434050457 2.9381514488251822e-08" group="3" />
            <geom name="link3_1_col_128" type="box" size="0.02252768998295 0.0080500003528 0.01255000000045" pos="0.122558456879 -0.0260001057581 0.0335087785418" quat="0.9999874160333593 8.386935926771339e-08 -0.00501674943720386 5.237748743562272e-08" group="3" />
            <body name="link4_1" pos="0.135059233654 -2.61233757511e-07 0.0336375809223">
              <joint name="link3_to_link4" type="hinge" axis="-5.21611917629e-08 1.0 -3.41984371354e-08" range="-1.72787595947 1.69296937443" />
              <inertial pos="0.0367612549493 -0.00682773158541 -9.36509085222e-05" mass="0.0850684506718" fullinertia="2.5361050179e-05 2.1143272577e-05 3.58784706539e-05 -2.59566550716e-06 1.43173507335e-07 4.37062265793e-08" />
              <geom name="link4_1_vis_0" type="mesh" mesh="link4_1_0p001_0p001_0p001" pos="-0.1690931926 -0.0179996182572 -0.244995122636" contype="0" conaffinity="0" group="2" material="silver" />
              <geom name="link4_1_col_0" type="box" size="0.0169999999639 0.02252768969215 0.0123501506878" pos="0.0390445811529 -0.00549962415196 -4.43610672968e-05" quat="0.9999999280792423 -0.00037926443206767274 4.826859777896039e-11 2.6080603922249105e-08" group="3" />
              <geom name="link4_1_col_1" type="box" size="0.0195679857134 0.0010265625 0.01525693225655" pos="0.0065179880358 -0.04452343716 1.26660559818e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_2" type="box" size="0.02151816923595 0.0010265625 0.01530918110445" pos="0.00846817145648 -0.0425703120583 1.45584222455e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_3" type="box" size="0.0234641127453 0.0010265625 0.01530918110445" pos="0.0104141148639 -0.0406171869568 1.3890482653e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_4" type="box" size="0.0252036541922 0.0010265625 0.01530918110445" pos="0.0125664603338 -0.0386640618445 1.32225422278e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_5" type="box" size="0.0134672867927 0.001002692237205 0.0146747776872" pos="0.00136014106602 -0.0367348076918 1.25627594438e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_6" type="box" size="0.0134672867927 0.0010265625 0.01530918110445" pos="0.0281947146501 -0.0367109360293 1.25546029128e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_7" type="box" size="0.01537373503415 0.0010265625 0.01530918110445" pos="0.0301801533254 -0.0347578109258 1.18866635979e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_8" type="box" size="0.01614521171765 0.0010265625 0.01530918110445" pos="0.0333005635587 -0.032804685763 1.1218724838e-09" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_9" type="box" size="0.017114592727 0.0010265625 0.00767959055225" pos="0.0362230694662 -0.0308515608715 -0.00762958949715" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_10" type="box" size="0.017114592727 0.0010265625 0.00767959055225" pos="0.0362230694662 -0.0308515603496 0.0076295916073" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_11" type="box" size="0.00129993508309 0.0078625 0.01522518822" pos="0.021249936234 -0.0220624988916 7.60582069548e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_12" type="box" size="0.00129993508309 0.0078625 0.01530137684265" pos="0.0237498064002 -0.0220624987612 7.55663198682e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_13" type="box" size="0.002549870166185 0.00395625 0.01530918110445" pos="0.0274996118532 -0.0259687485656 8.88093681928e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_14" type="box" size="0.002549870166185 0.00395625 0.01530918110445" pos="0.0274996114457 -0.0181562485656 6.20917844918e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_15" type="box" size="0.00504974033235 0.0078625 0.001429590552225" pos="0.034999222148 -0.0220624986491 -0.0138795897977" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_16" type="box" size="0.00504974033235 0.0078625 0.001429590552225" pos="0.034999222148 -0.0220624976997 0.0138795913067" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_17" type="box" size="0.01004948066475 0.0078625 0.00276593360426" pos="0.0499984431451 -0.022062497821 -0.0125432467457" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_18" type="box" size="0.01013222292615 0.0079759084227 0.002667189529665" pos="0.049994356267 -0.0220477574594 0.0129673139648" quat="0.9995206051941031 -0.022894911393564574 0.02083638663877287 0.0004773013032312423" group="3" />
              <geom name="link4_1_col_19" type="box" size="0.00486237016619 0.00505 0.01260418743575" pos="-0.00818763009462 0.00499999957292 -1.71133662796e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_20" type="box" size="0.00486237016619 0.00505 0.0137784545204" pos="0.00143711023776 0.00500000007496 -1.70991054649e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_21" type="box" size="0.00486237016619 0.0061281709397 0.0147879360959" pos="0.0110618505139 0.00607817151672 -3.68459901479e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_22" type="box" size="0.001253092526775 0.00782372041815 0.0149864387207" pos="0.0170773131748 0.0066933152878 -2.24695012596e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_23" type="box" size="0.001253092557765 0.01555357543135 0.0151374339392" pos="0.0194834985402 0.00125357644762 3.94287769101e-10" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_24" type="box" size="0.00245618509181 0.015675 0.00465377302251" pos="0.0230927761834 0.00137500084021 -0.0106537730695" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_25" type="box" size="0.00245618509181 0.015675 0.004653773023025" pos="0.0230927761834 0.00137500156889 0.010653772976" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_26" type="box" size="0.0096747403324 0.015675 0.001429590552225" pos="0.0351237015902 0.00137500135744 -0.0138795905992" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_27" type="box" size="0.00967474032365 0.015675 0.001429590552225" pos="0.0351237015989 0.00137500230676 0.0138795905052" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_28" type="box" size="0.00486237016619 0.008862629834 0.002926133578015" pos="0.0495608124441 -0.00543736800432 -0.0123830473405" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_29" type="box" size="0.00286237016619 0.0047375 0.00705918110445" pos="0.0571855529916 -0.00956249729927 -0.00824999967298" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_30" type="box" size="0.00486237016619 0.0047375 0.0083" pos="0.0591855525026 -0.000187497237379 -0.00949081888914" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_31" type="box" size="0.001214303990035 0.00252136144301 0.004175" pos="0.0588336189909 -0.00617135827554 0.0028841813155" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_32" type="box" size="0.0076747403324 0.005325 0.004175" pos="0.0523731827948 -0.00897499688738 0.0111341814114" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_33" type="box" size="0.001299999985495 0.004697580016085 0.000650000000175" pos="0.0579445817485 -0.0180002673348 -0.00904036378062" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_34" type="box" size="0.001300000014505 0.00639980315065 0.00065" pos="0.0579445817485 -0.0180002672901 -0.00784036378045" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_35" type="box" size="0.0013 0.0075439975981 0.00065" pos="0.0579445817465 -0.0180002672449 -0.00664036378045" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_36" type="box" size="0.00063749999588 0.002297220504635 0.000299999999815" pos="0.0550820817519 -0.018000267338 -0.00509036378049" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_37" type="box" size="0.000125000001838 0.002128460968135 0.00065" pos="0.0567695820629 -0.0242356501734 -0.00544036356721" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_38" type="box" size="0.00063749999588 0.002128460968135 0.00065" pos="0.0562570818521 -0.0200787282638 -0.00544036370937" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_39" type="box" size="0.00063749999588 0.002128460968135 0.00065" pos="0.0562570816352 -0.0159218063276 -0.00544036385153" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_40" type="box" size="0.0001249999887785 0.002128460971935 0.00065" pos="0.0567695814255 -0.0117648843608 -0.00544036399369" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_41" type="box" size="0.00122500000348 0.00836384387635 0.00065" pos="0.058019581743 -0.0180002672004 -0.00544036378045" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_42" type="box" size="0.00239999997812 0.00934516002705 0.00125" pos="0.0568445817422 -0.0180002672036 -0.00364036378045" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_43" type="box" size="0.00239999999444 0.0095747047199 0.00065" pos="0.05684458176 -0.018000267146 -0.00184036378045" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_44" type="box" size="0.000674999995485 0.002050000003725 0.00064999999991" pos="0.0573195821241 -0.0256002670725 -0.000640363520452" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_45" type="box" size="0.00067500000443 0.002050000003725 0.00065000000009" pos="0.058569582124 -0.0256002670073 -0.000640363520452" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_46" type="box" size="0.00239999999438 0.002050000001775 0.00065" pos="0.0568445819256 -0.0216002670918 -0.000640363657334" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_47" type="box" size="0.002400000006245 0.002049999999935 0.00065" pos="0.0568445815729 -0.0144002671047 -0.000640363903563" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_48" type="box" size="0.0013 0.002049999999935 0.00065" pos="0.057944581379 -0.0104002670475 -0.000640364040357" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_49" type="box" size="0.001299999996605 0.002050000002015 0.00065000000949" pos="0.0579445821199 -0.0256002670045 0.000559636469969" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_50" type="box" size="0.002399999993755 0.002049999998115 0.00065" pos="0.0568445819264 -0.0216002670617 0.000559636342666" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_51" type="box" size="0.00240000000562 0.002049999996275 0.00065" pos="0.0568445815737 -0.0144002670527 0.000559636096437" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_52" type="box" size="0.0013 0.002050000000175 0.00065" pos="0.057944581379 -0.0104002669989 0.000559635959643" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_53" type="box" size="0.00240000000556 0.0095747047237 0.00065" pos="0.0568445817393 -0.0180002670189 0.00175963621955" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_54" type="box" size="0.00239999999287 0.00934516003475 0.00125" pos="0.0568445817281 -0.0180002669573 0.00355963621955" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_55" type="box" size="0.0013 0.002128460972885 0.00065" pos="0.0579445820628 -0.0242356497456 0.00535963643279" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_56" type="box" size="0.00063749999915 0.00117361025151 0.000300000000185" pos="0.0550820818082 -0.0191238772473 0.00500963625794" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_57" type="box" size="0.0006374999964 0.002128460969085 0.000650000000165" pos="0.0562570818535 -0.0200787278916 0.0053596362908" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_58" type="box" size="0.001224999997925 0.002128460969085 0.00065" pos="0.0580195818478 -0.0200787277997 0.00535963629063" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_59" type="box" size="0.0024 0.00108923048354 0.00065" pos="0.0568445817026 -0.0169610364084 0.00535963618401" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_60" type="box" size="0.0024 0.00108923048354 0.00065" pos="0.0568445815942 -0.0148825754413 0.00535963611293" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_61" type="box" size="0.001299999999915 0.00212846096708 0.00065" pos="0.0579445814381 -0.0117648839333 0.00535963600631" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_62" type="box" size="0.001300000010525 0.00754399760185 0.00065" pos="0.0579445817634 -0.0180002667973 0.00655963621955" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_63" type="box" size="0.001299999985495 0.00639980314245 0.00065" pos="0.0579445817508 -0.0180002667566 0.00775963621955" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <geom name="link4_1_col_64" type="box" size="0.001300000014505 0.00469758001545 0.00065" pos="0.0579445817508 -0.0180002667114 0.00895963621955" quat="0.9999999999999996 -1.70992514303e-08 -2.526981720702652e-16 2.6080627855849995e-08" group="3" />
              <body name="link5_1" pos="0.0591945817497 -0.0180002669618 -4.03637807994e-05">
                <joint name="link4_to_link5" type="hinge" axis="-1.0 -4.90398764451e-08 1.40482066922e-10" range="-2.87979326579 2.84488668075" />
                <inertial pos="0.0344926242899 -3.24353462452e-05 0.0128432467385" mass="0.106616468137" fullinertia="9.43485888891e-05 6.44606301656e-05 7.93067623665e-05 -3.08426233239e-07 8.10180709222e-06 5.47431071095e-08" />
                <geom name="link5_1_vis_0" type="mesh" mesh="link5_1_0p001_0p001_0p001" pos="-0.22828777435 6.48704621215e-07 -0.244954758855" contype="0" conaffinity="0" group="2" material="silver" />
                <geom name="link5_1_col_0" type="box" size="0.00305 0.06255 0.00305" pos="0.0639999997785 0.000502081226153 -0.0160020774673" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_1" type="box" size="0.00305 0.06255 0.00305" pos="0.063999999783 0.000502079729091 0.0159979225327" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_2" type="box" size="0.000637500009135 0.00535 0.00535" pos="0.0440875000551 2.08047196043e-06 -2.07736647984e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_3" type="box" size="0.0001249999672915 0.00124374984838 0.00636673045285" pos="0.0457750005511 -0.00835416835679 -2.07774471797e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_4" type="box" size="0.0001249999685465 0.00064687492419 0.0075049654137" pos="0.0457750004564 -0.00656354358422 -2.0776639898e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_5" type="box" size="0.0001249999701045 0.00064687492419 0.00211763538892" pos="0.0457750003926 -0.00536979345619 -0.00620498377693" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_6" type="box" size="0.000637500009135 0.00064687492419 0.00211763538892" pos="0.0452625003536 -0.00536979366936 -0.00206971299909" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_7" type="box" size="0.000637500009135 0.00064687492419 0.00211763538892" pos="0.0452625003536 -0.00536979385579 0.00206555777875" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_8" type="box" size="0.0001249999683055 0.00064687492419 0.00211763538892" pos="0.0457750003944 -0.00536979401549 0.00620082855659" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_9" type="box" size="0.0001249999713425 0.00064687492419 0.00226327145488" pos="0.0457750003291 -0.00417604358811 -0.006641891921" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_10" type="box" size="0.000637500009135 0.00064687492419 0.00226327145488" pos="0.0452625002913 -0.00417604381441 -0.00221534901123" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_11" type="box" size="0.000637500009135 0.00064687492419 0.00226327145488" pos="0.0452625002913 -0.00417604401398 0.00221119389853" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_12" type="box" size="0.000124999969503 0.00064687492419 0.00226327145488" pos="0.0457750003309 -0.00417604418681 0.00663773680829" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_13" type="box" size="0.000637500009135 0.00064687492419 0.00467337328231" pos="0.045262500229 -0.00298229385738 -0.00462545078485" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_14" type="box" size="0.000637500009135 0.00064687492419 0.00467337328231" pos="0.045262500229 -0.00298229427426 0.00462129577978" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_15" type="box" size="0.000637500009135 0.00064687492419 0.00478754783965" pos="0.0452625001668 -0.00178854400385 -0.00473962528836" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_16" type="box" size="0.000637500009135 0.00064687492419 0.00478754783965" pos="0.0452625001668 -0.00178854443102 0.00473547039094" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_17" type="box" size="0.000637500009135 0.00064687492671 0.004022665089485" pos="0.0452625001045 -0.000594794115091 -0.00557941109245" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_18" type="box" size="0.000637500009135 0.000646874919565 0.004022665088145" pos="0.0452625001045 -0.000594794625131 0.005575256304" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_19" type="box" size="0.000637500009135 0.00064687492419 0.00402266510398" pos="0.0452625000422 0.00059895573077 -0.00557941102413" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_20" type="box" size="0.000637500009135 0.00064687492419 0.00402266510264" pos="0.0452625000422 0.000598955227875 0.00557525634332" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_21" type="box" size="0.000637500009135 0.00064687492419 0.00478754783965" pos="0.04526249998 0.00179270554129 -0.00473962512691" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_22" type="box" size="0.000637500009135 0.00064687492419 0.00478754783965" pos="0.04526249998 0.00179270511412 0.00473547055239" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_23" type="box" size="0.000637500009135 0.00064687492419 0.00467337328231" pos="0.0452624999177 0.00298645538452 -0.00462545051575" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_24" type="box" size="0.000637500009135 0.00064687492419 0.00467337328231" pos="0.0452624999177 0.00298645496764 0.00462129604887" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_25" type="box" size="0.000637500009135 0.00064687492419 0.00447654290976" pos="0.0452624998554 0.00418020522403 -0.00442862008938" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_26" type="box" size="0.000637500009135 0.00064687492419 0.00447654290976" pos="0.0452624998554 0.0041802048249 0.00442446573014" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_27" type="box" size="0.000124999981065 0.00064687492419 0.00211763538892" pos="0.0457749998212 0.00537395517922 -0.00620498329257" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_28" type="box" size="0.000637500009135 0.00064687492419 0.00211763538892" pos="0.0452624997932 0.00537395496606 -0.00206971251472" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_29" type="box" size="0.000637500009135 0.00064687492419 0.00211763538892" pos="0.0452624997932 0.00537395477962 0.00206555826312" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_30" type="box" size="0.0001249999792665 0.00064687492419 0.00211763538892" pos="0.045774999823 0.00537395461992 0.00620082904096" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_31" type="box" size="0.0001249999808245 0.00064687492419 0.0075049654137" pos="0.0457749997592 0.00656770474795 -2.07707198316e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_32" type="box" size="0.0001249999820795 0.00124374984838 0.00636673045285" pos="0.0457749996645 0.00835832952052 -2.07699125496e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_33" type="box" size="0.00122500002572 0.00965 0.00965" pos="0.0470250001082 2.08062768359e-06 -2.07736665198e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_34" type="box" size="0.01700000000115 0.0123501506878 0.0225276896459" pos="0.0280500000018 7.7789224765e-06 0.0125006437994" quat="0.9999999280942956 -0.0003792247394425256 -1.0517138145220074e-11 2.4427177867444447e-08" group="3" />
                <geom name="link5_1_col_35" type="box" size="0.000800000025855 0.0298000000238 0.0149249999595" pos="0.0457500015747 -0.0297479202288 -0.00912707872917" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_36" type="box" size="0.0008000000256 0.0298000000238 0.0149249999595" pos="0.0457499984713 0.0297520798188 -0.00912707604668" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_37" type="box" size="0.00080000011432 0.02625000011355 0.0149250000325" pos="0.0457500016714 -0.0332979214803 0.0206229211028" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_38" type="box" size="0.000799999932035 0.02624999994325 0.01492500005705" pos="0.0457499983797 0.0333020785155 0.0206229241299" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_39" type="box" size="0.000799999935335 0.0610499999205 0.00748750011385" pos="0.0472499999841 2.08023277643e-06 -0.0165645773699" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_40" type="box" size="0.000799999935335 0.061049999936 0.0074874999793" pos="0.0472499999841 2.07954640366e-06 -0.00168957727678" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_41" type="box" size="0.000799999935335 0.061049999916 0.0074874999793" pos="0.0472499999841 2.07882434933e-06 0.0131854226818" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_42" type="box" size="0.000799999935335 0.061049999916 0.0074875000037" pos="0.0472499999841 2.07815372769e-06 0.0280604226648" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_43" type="box" size="0.00079999997892 0.062549999878 0.00748749998005" pos="0.0487499998983 2.08030165416e-06 -0.0165645772314" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_44" type="box" size="0.00079999997892 0.062549999878 0.00748749997845" pos="0.0487499998983 2.07963103252e-06 -0.00168957727289" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_45" type="box" size="0.00079999997892 0.062549999874 0.00748749997845" pos="0.0487499998983 2.07889322706e-06 0.013185422684" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_46" type="box" size="0.00079999997892 0.062549999874 0.00748749997845" pos="0.0487499998983 2.07822260542e-06 0.028060422641" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_47" type="box" size="0.00080000014518 0.06405 0.0074875001198" pos="0.0502500000224 2.08057030001e-06 -0.0165645773712" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_48" type="box" size="0.00080000016079 0.064050000017 0.00748749997845" pos="0.050250000038 2.07988288242e-06 -0.00168957727297" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_49" type="box" size="0.00080000014727 0.06405 0.00748749997845" pos="0.0502500000245 2.07916187292e-06 0.0131854226839" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_50" type="box" size="0.000799999978715 0.06405 0.00748749997845" pos="0.0502499998559 2.07849125128e-06 0.0280604226408" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_51" type="box" size="0.00079999999376 0.0050500000554 0.0240500000065" pos="0.0517500030251 -0.0589979201211 -2.08014509584e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_52" type="box" size="0.0008000000222 0.002299999979675 0.02255" pos="0.0517500000934 -0.00224792009844 -2.0774494803e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_53" type="box" size="0.00080000002178 0.002300000020325 0.02255" pos="0.0517499998582 0.00225207990156 -2.07724660314e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_54" type="box" size="0.00079999988458 0.00504999994695 0.02404999999185" pos="0.0517499969792 0.0590020798812 -2.07455332921e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_55" type="box" size="0.00079999999376 0.06405 0.00605000010765" pos="0.0532499999351 2.08078872016e-06 -0.0180020773842" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_56" type="box" size="0.00079999999292 0.06405 0.0060499999641" pos="0.0532499999342 2.08024771446e-06 -0.00600207731248" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_57" type="box" size="0.00079999999292 0.0640500000025 0.0060499999642" pos="0.0532499999359 2.07965485109e-06 0.00599792261582" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_58" type="box" size="0.00079999999376 0.0640500000025 0.00604999996985" pos="0.0532499999351 2.0791138454e-06 0.0179979225498" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_59" type="box" size="0.00079999999376 0.00311350831557 0.02405" pos="0.0547500031011 -0.0609344117138 -2.0802280323e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_60" type="box" size="0.0003000000367995 0.001550000021965 0.02105" pos="0.0542500000439 -0.00149792001735 -2.07741613101e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_61" type="box" size="0.000300000037193 0.001549999978035 0.02105" pos="0.0542499998878 0.00150207998265 -2.07728087959e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_62" type="box" size="0.00079999999376 0.00311350835753 0.02405" pos="0.0547499967441 0.0609385716131 -2.07445802403e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_63" type="box" size="0.00079999999376 0.00305 0.02404999999435" pos="0.056250003092 -0.060997919845 -2.08023654119e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_64" type="box" size="0.00079999999376 0.00305000005307 0.02405000000565" pos="0.0562499967283 0.0610020800972 -2.07446101727e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_65" type="box" size="0.0060499999501 0.00304999994693 0.02404999999435" pos="0.0630000030358 -0.0609979195507 -2.08023675191e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_66" type="box" size="0.0060500001388 0.00305000006375 0.02405" pos="0.0629999968608 0.0610020804386 -2.07446694397e-06" quat="0.9999999999999994 2.2541903908599984e-08 8.956598589877825e-16 2.6080625377099985e-08" group="3" />
                <geom name="link5_1_col_67" type="box" size="0.00424523735221 0.01004623455575 0.00323881404834" pos="0.00334681948348 4.48538976895e-10 -0.0081790327943" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_68" type="box" size="0.0050009534757 0.01258398272145 0.00323881404834" pos="0.00408216761621 2.05383617123e-10 -0.00179902416401" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_69" type="box" size="0.00500095349385 0.0150499999999 0.00298374901245" pos="0.0124229586213 1.02159781321e-09 -0.00954359459107" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_70" type="box" size="0.004529751783655 0.0150499999999 0.001516874506225" pos="0.0129792509842 8.60732957048e-10 -0.00515291614557" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_71" type="box" size="0.004182117616205 0.0150500000197 0.001516874506225" pos="0.013317515747 7.58175635509e-10 -0.0022180720726" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_72" type="box" size="0.004795576507105 0.01093317443195 0.00323881404834" pos="0.00388232593782 5.76519688926e-12 0.0048026148334" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_73" type="box" size="0.004795576511115 0.0150499999999 0.00164440702417" pos="0.0127499999726 5.53521533926e-10 0.00106249764439" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_74" type="box" size="0.00441771844455 0.0150499999786 0.00164440702417" pos="0.0131176740342 4.41875414331e-10 0.00425250196064" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_75" type="box" size="0.00401495122297 0.00846170917125 0.00243997009558" pos="0.00581089898471 -0.0146942709399 0.010591982227" quat="0.9809182813367162 -0.19363826226321057 0.01709279346026926 0.0033741871364350714" group="3" />
                <geom name="link5_1_col_76" type="box" size="0.00446961406588 0.00763684945695 0.002254748591825" pos="0.00460692951413 0.000760548095454 0.0101738472753" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_77" type="box" size="0.004469614069885 0.0164561084658 0.00164440702417" pos="0.013067177256 -0.00140610820355 0.00754160843442" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_78" type="box" size="0.00409175595921 0.0185500000214 0.00164440702417" pos="0.0134348513839 -0.00349999984913 0.0107316126891" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_79" type="box" size="0.0081289939053 0.004674999992305 0.00323881404834" pos="0.00987409959006 -0.0173750002615 0.0164911828704" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_80" type="box" size="0.004402660743855 0.004674999973995 0.00323881404834" pos="0.0135000003866 -0.00812500007657 0.0156318818754" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_81" type="box" size="0.00440266077353 0.00929999999085 0.00323881404834" pos="0.0134999997206 0.00574999988825 0.0156318823372" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_82" type="box" size="0.0051264083703 0.0185433113824 0.00164440702417" pos="0.0124280849423 -0.00349331177926 0.0208016238441" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_83" type="box" size="0.00402480263318 0.0160216515242 0.00164440702417" pos="0.0135000000583 -0.000971651968552 0.0238247303286" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_84" type="box" size="0.00402480267729 0.0150499999999 0.00164440702417" pos="0.013500000051 -6.42437867305e-10 0.027101869639" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_85" type="box" size="0.0040248026813 0.0150500000001 0.00164440702417" pos="0.0134999999618 -7.5474755305e-10 0.0303790089477" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_86" type="box" size="0.00402480267729 0.0150499999999 0.00164440702417" pos="0.013500000052 -9.52730787335e-10 0.0336561482138" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_87" type="box" size="0.00402480267328 0.0163362022914 0.00164440702417" pos="0.0135000000485 -1.33644303943e-09 0.0369332875021" quat="0.9932391622387704 1.399187756657e-08 0.11608603100814792 2.7893470136543496e-08" group="3" />
                <geom name="link5_1_col_88" type="box" size="0.004968401414285 0.01093953841115 0.00323881405963" pos="0.014806765131 -0.0162079411408 0.0415393061987" quat="0.9914500847750252 0.006964463673114719 0.1158769297179663 0.059588277408219426" group="3" />
                <geom name="link5_1_col_89" type="box" size="0.0053784504446 0.0100555205487 0.00323881404834" pos="0.0174408667386 -0.0170284840915 0.0474693297609" quat="0.9921480849594719 0.005439729905320524 0.11595850953560806 0.04654257100859435" group="3" />
                <geom name="link5_1_col_90" type="box" size="0.004968401903655 0.01093953789075 0.003238813893385" pos="0.0148067632644 0.0162079378286 0.0415393072709" quat="0.9914500971795845 -0.006964406191781309 0.1158769331731295 -0.05958807101575223" group="3" />
                <geom name="link5_1_col_91" type="box" size="0.005448662367 0.0100555204333 0.003238814048155" pos="0.0175088843625 0.0170219083867 0.0474532110287" quat="0.9921480877590964 -0.005439701718426868 0.11595851085798552 -0.04654251132869191" group="3" />
                <geom name="link5_1_col_92" type="box" size="0.004295071969485 0.00867654480075 0.003238814047615" pos="0.0198266679332 -0.0182959301152 0.0534581979616" quat="0.9921480849604383 0.005439730183743617 0.11595850952244838 0.04654257098824081" group="3" />
                <geom name="link5_1_col_93" type="box" size="0.004343639130655 0.00867654487235 0.00323881405651" pos="0.0198737165174 0.0182913803775 0.0534470487332" quat="0.9921480877543027 -0.005439701086231085 0.11595851088733182 -0.04654251143164982" group="3" />
                <geom name="link5_1_col_94" type="box" size="0.0023000000009 0.02655000000005 0.004052305659685" pos="0.0229714425848 -1.67837416753e-09 0.059267197594" quat="0.9659258264555267 1.6374120675709837e-08 0.2588190444812868 2.9818238601839434e-08" group="3" />
                <geom name="link5_1_col_95" type="box" size="0.00230000000236 0.02654999999995 0.00405230592778" pos="0.0263001089932 -1.7899618979e-09 0.065032616915" quat="0.9659258264555267 1.6374120675709837e-08 0.2588190444812868 2.9818238601839434e-08" group="3" />
                <geom name="link5_1_col_96" type="box" size="0.002300000000925 0.02655000000005 0.004052306283495" pos="0.029628774976 -1.8977928082e-09 0.0707980355393" quat="0.9659258264555267 1.6374120675709837e-08 0.2588190444812868 2.9818238601839434e-08" group="3" />
                <geom name="link5_1_col_97" type="box" size="0.00230000000212 0.02654999999995 0.004052306052095" pos="0.0329574412721 -2.00938053469e-09 0.0765634546607" quat="0.9659258264555267 1.6374120675709837e-08 0.2588190444812868 2.9818238601839434e-08" group="3" />
                <geom name="link5_1_col_98" type="box" size="0.00229999999995 0.02655000000005 0.003378666438745" pos="0.0359492874583 -2.10665189825e-09 0.0817454842737" quat="0.9659258262819885 1.64432100848979e-08 0.25881904512894 2.9820249868288354e-08" group="3" />
                <body name="clamp1_1" pos="0.0639999993385 0.0165020797222 0.0159979235363">
                  <joint name="clamp1" type="slide" axis="-5.21612507542e-08 1.0 4.50838078172e-08" range="0.0 0.0415" />
                  <inertial pos="0.0150861322583 -0.0085189835284 -0.0166385856799" mass="0.00734953722517" fullinertia="1.97265726696e-06 5.39853666319e-06 3.8596220542e-06 3.98221847911e-07 -1.19938943731e-07 2.68780494505e-08" />
                  <geom name="clamp1_1_vis_0" type="mesh" mesh="clamp1_1_0p001_0p001_0p001" pos="-0.292287773689 -0.0165014310175 -0.260952682391" contype="0" conaffinity="0" group="2" material="silver" />
                  <geom name="clamp1_1_col_0" type="box" size="0.00180002668313 0.00407500036097 0.011400026688" pos="-0.00474997269197 -0.0120750001084 -0.0273500272227" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_1" type="box" size="0.001800026669215 0.004075000366375 0.0075499733088" pos="-0.00124991933962 -0.0120749997442 -0.0315000272175" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_2" type="box" size="0.003550053338435 0.00407500036832 0.00705" pos="0.00400016066803 -0.0120749994497 -0.0320000005263" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_3" type="box" size="0.00180002666787 0.00407500040633 0.0113858131097" pos="-0.00474997267671 -0.0120750011766 -0.004664187425" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_4" type="box" size="0.001800026669215 0.004075000402505 0.007549973322" pos="-0.00124991933962 -0.0120750011779 -0.000499973866466" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_5" type="box" size="0.003550053338435 0.004075000404455 0.00705" pos="0.00400016066803 -0.0120750009285 -5.26278076673e-10" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_6" type="box" size="0.0013000133356 0.003200013334355 0.01005002666745" pos="-0.0112499864105 -0.00444998750063 -0.0265000001841" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_7" type="box" size="0.001300013334545 0.003799999987685 0.0115499999947" pos="-0.00874995977167 -0.00385000065498 -0.0275000001586" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_8" type="box" size="0.002550026669095 0.00402499963363 0.0115499999868" pos="-0.0049999197563 -0.00407500012011 -0.0275000001609" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_9" type="box" size="0.0050500533382 0.0040249996336 0.0072999466734" pos="0.00250016025099 -0.00407499953732 -0.0317500534918" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_10" type="box" size="0.002800000005135 0.004024999615685 0.002924999998675" pos="-0.00674999976889 -0.00407500087742 -0.0131250001754" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_11" type="box" size="0.002800053335665 0.00402499961824 0.002924999998675" pos="-0.00374994642809 -0.00407500097762 -0.00737500017802" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_12" type="box" size="0.002800053335265 0.004075000366375 0.00580000000695" pos="-0.00374994643029 -0.00402500061833 0.00124999982989" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_13" type="box" size="0.0043000533408 0.004075000366375 0.0070499999921" pos="0.00325016024577 -0.00402500019684 -1.55222001919e-10" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_14" type="box" size="0.002550026669095 0.0067998933055 0.004672817027895" pos="0.010000240403 -0.00684989274081 -0.0341230306787" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_15" type="box" size="0.00310156367939 0.00655001608815 0.002104668212735" pos="0.015000293728 -0.00659998306157 -0.0347765335396" quat="0.9933359487302181 2.647977508535645e-08 -0.1152549042784553 2.318319543733768e-08" group="3" />
                  <geom name="clamp1_1_col_16" type="box" size="0.0057171420782 0.00649394155095 0.002049999956725" pos="0.0225003737196 -0.00665605733647 -0.0328707755045" quat="0.9922702951389794 3.076113694684177e-08 -0.12409537213289235 2.2436740018885428e-08" group="3" />
                  <geom name="clamp1_1_col_17" type="box" size="0.002550026669095 0.006799893313 0.004672817052015" pos="0.010000240403 -0.00684989447062 0.00212303010611" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_18" type="box" size="0.00310156367372 0.0065500235941 0.002104668190625" pos="0.0150002937319 -0.00659997733581 0.00277653298282" quat="0.9933359488242086 1.8805125533936654e-08 0.11525490346839103 2.8437517376330956e-08" group="3" />
                  <geom name="clamp1_1_col_19" type="box" size="0.0057171420836 0.00649394163005 0.002049999999815" pos="0.0225003737384 -0.00665605883076 0.00087077494601" quat="0.9922702951189379 2.0673770938283552e-08 0.12409537229314531 2.8869295815188366e-08" group="3" />
                  <geom name="clamp1_1_col_20" type="box" size="0.0057170322785 0.00609027573515 0.00205000019083" pos="0.0325003739926 -0.00795454190988 -0.0303297948829" quat="0.9922702947524334 3.161579068802832e-07 -0.1240953752233295 -1.3255570359048186e-08" group="3" />
                  <geom name="clamp1_1_col_21" type="box" size="0.00571703201445 0.0060902789858 0.002049999998205" pos="0.0325003738037 -0.00795454195987 -0.00167020872302" quat="0.9922702951174488 2.061767942126799e-08 0.12409537230505255 2.8862280894511844e-08" group="3" />
                  <geom name="clamp1_1_col_22" type="box" size="0.003147156586325 0.0052315206302 0.00208755323133" pos="0.0400002939068 -0.0101290741164 -0.028385328097" quat="0.9922702950012957 2.6271151686107933e-08 -0.12409537323381631 2.299826682133768e-08" group="3" />
                  <geom name="clamp1_1_col_23" type="box" size="0.00314715658441 0.0052315206299 0.00208755323009" pos="0.0400002939053 -0.0101290752852 -0.00361467280543" quat="0.9922702950712233 2.070163109364206e-08 0.12409537267467323 2.887278007310307e-08" group="3" />
                  <geom name="clamp1_1_col_24" type="box" size="0.00067499333238 0.004633288824405 0.01390239124145" pos="0.0431252606156 -0.0110562502349 -0.0160000004953" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_25" type="box" size="0.00067499333238 0.00460708484793 0.01358477167885" pos="0.0443752472989 -0.0114113980088 -0.0160000005123" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_26" type="box" size="0.00129998666476 0.004482166750555 0.0132671521163" pos="0.0462502273094 -0.0116678317328 -0.0160000005249" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_27" type="box" size="0.00129998666476 0.0041008149411 0.01263191299195" pos="0.0487502006588 -0.0120491834801 -0.0160000005432" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_28" type="box" size="0.00129998666476 0.0037194630241 0.0119966738678" pos="0.0512501740082 -0.0124305352151 -0.0160000005613" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_29" type="box" size="0.00254997332952 0.003338111182315 0.01136143474365" pos="0.0550001340224 -0.0128118868705 -0.0160000005794" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_30" type="box" size="0.00254997332952 0.00257540748478 0.01009095649535" pos="0.0600000807212 -0.0135745903815 -0.0160000006157" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                  <geom name="clamp1_1_col_31" type="box" size="0.00255040004612 0.001812703710265 0.008820478247" pos="0.0650004541366 -0.0143372938579 -0.0160000006519" quat="0.9999999999999994 2.2541903908599984e-08 8.921904120357825e-16 2.6080625377099985e-08" group="3" />
                </body>
                <body name="clamp2_1" pos="0.0640000007627 -0.0154979202778 0.0159979219163">
                  <joint name="clamp2" type="slide" axis="-4.9039873492e-08 1.0 4.73420869362e-08" range="-0.0415 3.46944695195e-17" />
                  <inertial pos="0.0150861312617 0.00851898352954 -0.0153534196604" mass="0.00734953759363" fullinertia="1.97257592577e-06 5.3984553248e-06 3.85962221953e-06 -3.98222180309e-07 1.20960862679e-07 2.74954514022e-08" />
                  <geom name="clamp2_1_vis_0" type="mesh" mesh="clamp2_1_0p001_0p001_0p001" pos="-0.292287775113 0.0154985689825 -0.260952680771" contype="0" conaffinity="0" group="2" material="silver" />
                  <geom name="clamp2_1_col_0" type="box" size="0.00280005333909 0.00402500034734 0.0058000000064" pos="-0.00374994715193 0.00407500027208 -0.0332500000084" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_1" type="box" size="0.003026526487985 0.00402500035184 0.0066866058487" pos="-0.00494463743452 0.00407499962708 -0.0216703540109" quat="0.9918712799258202 2.9466367799257614e-08 -0.12724529090820574 2.0940701302403358e-08" group="3" />
                  <geom name="clamp2_1_col_2" type="box" size="0.00430005334315 0.004025000349295 0.0070499999921" pos="0.00325015953031 0.00407500055423 -0.0320000000227" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_3" type="box" size="0.00130001333557 0.00320001334923 0.0100500266728" pos="-0.0112499871732 0.00444998488597 -0.0054999999955" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_4" type="box" size="0.00130001333491 0.003800000014175 0.0115499999957" pos="-0.00874996047331 0.00384999828849 -0.00450000002126" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_5" type="box" size="0.00255002667048 0.0040749996146 0.0115499999878" pos="-0.0049999204765 0.00402499958244 -0.00450000002088" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_6" type="box" size="0.00505005334095 0.0040749996146 0.0072999466497" pos="0.00250015953495 0.00402499974904 -0.00024994668348" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_7" type="box" size="0.00355005333892 0.0020624998073 0.0115499999996" pos="-0.00299994743424 0.0100625001913 -0.0274999997229" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_8" type="box" size="0.003550053337575 0.0020624998073 0.00705" pos="0.00400015924225 0.0100625007476 -0.0319999997225" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_9" type="box" size="0.003550053337575 0.0020624998073 0.0115500000004" pos="-0.0029999474329 0.0100624991024 -0.0044999997229" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_10" type="box" size="0.003550053337575 0.0020624998073 0.00705" pos="0.00400015924225 0.0100624992327 2.77524447867e-10" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_11" type="box" size="0.007050106672 0.00105624990365 0.01154999999775" pos="0.000500105759781 0.0130812500739 -0.0274999995781" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_12" type="box" size="0.007050106672 0.00105624990365 0.0115500000029" pos="0.000500105759781 0.013081248985 -0.00449999957749" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_13" type="box" size="0.003549999997245 0.00105624990365 0.02305" pos="-0.00300000101098 0.0150937491651 -0.0159999994797" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_14" type="box" size="0.003550000003305 0.001056249905555 0.02304999999775" pos="0.0039999989952 0.0150937495103 -0.0159999994775" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_15" type="box" size="0.00255002667048 0.00679989333825 0.00467281701584" pos="0.0100002394079 0.00684989394244 -0.034123030303" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_16" type="box" size="0.003101563681265 0.00655002359605 0.002104668213725" pos="0.0150002927605 0.00659997728538 -0.0347765331591" quat="0.9933359487166182 2.7759106903022323e-08 -0.11525490439566898 2.1463598051955996e-08" group="3" />
                  <geom name="clamp2_1_col_17" type="box" size="0.00571714208555 0.0064939416281 0.002050000000125" pos="0.0225003727673 0.00665605951103 -0.0328707751147" quat="0.9922702951384211 2.7789999983460358e-08 -0.12409537213735768 2.1235470274174108e-08" group="3" />
                  <geom name="clamp2_1_col_18" type="box" size="0.00255002667048 0.00679989333675 0.004672817021045" pos="0.0100002394079 0.00684989213682 0.00212303049682" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_19" type="box" size="0.00310156367884 0.00655001609465 0.00210466820845" pos="0.0150002927591 0.00659998292621 0.00277653335671" quat="0.9933359487116622 2.21938149826164e-08 0.11525490443838364 2.7259541755308345e-08" group="3" />
                  <geom name="clamp2_1_col_20" type="box" size="0.0057171420791 0.00649394153625 0.002050000008335" pos="0.0225003727666 0.00665605792596 0.000870775326523" quat="0.992270295120117 2.0914978829548313e-08 0.12409537228371872 2.7326615503358474e-08" group="3" />
                  <geom name="clamp2_1_col_21" type="box" size="0.0057170318249 0.0060902789468 0.00204999999066" pos="0.032500372849 0.00795454356489 -0.03032979196" quat="0.9922703003011605 1.2079254857927793e-08 -0.12409533085593676 2.320028888390073e-08" group="3" />
                  <geom name="clamp2_1_col_22" type="box" size="0.0057170320179 0.00609027671075 0.002049999993585" pos="0.0325003727076 0.0079545443623 -0.00167020822118" quat="0.9922702951168906 2.2670153733430016e-08 0.1240953723095178 2.7546121302209166e-08" group="3" />
                  <geom name="clamp2_1_col_23" type="box" size="0.003147156582455 0.00523152060395 0.002087553231105" pos="0.0400002925949 0.0101290775917 -0.0283853273699" quat="0.9922702951512029 2.725801294414026e-08 -0.12409537203515382 2.1302001674407383e-08" group="3" />
                  <geom name="clamp2_1_col_24" type="box" size="0.003147156583985 0.0052315206072 0.002087553231755" pos="0.0400002925955 0.0101290763644 -0.0036146720745" quat="0.9922702951073973 2.0448481456066534e-08 0.1240953723854264 2.7268274380879834e-08" group="3" />
                  <geom name="clamp2_1_col_25" type="box" size="0.001299986665455 0.00479776076703 0.01390239123875" pos="0.0437502525378 0.0112207247364 -0.0159999996787" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_26" type="box" size="0.001299986665455 0.004482166743115 0.0132671521144" pos="0.0462502258467 0.0116678346085 -0.0159999996563" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_27" type="box" size="0.001299986665455 0.004100814928875 0.0126319129904" pos="0.0487501991589 0.0120491865855 -0.0159999996374" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_28" type="box" size="0.001299986665455 0.0037194630193 0.0119966738665" pos="0.0512501724712 0.012430538566 -0.0159999996185" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_29" type="box" size="0.002549973330905 0.00333811117887 0.0113614347426" pos="0.0550001324488 0.012811890584 -0.0159999995997" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_30" type="box" size="0.002549973330905 0.00257540746682 0.0100909564948" pos="0.0600000790732 0.013574594553 -0.015999999562" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                  <geom name="clamp2_1_col_31" type="box" size="0.00255040004751 0.001812703708175 0.008820478247" pos="0.0650004524142 0.0143372985196 -0.0159999995243" quat="0.9999999999999993 2.3671043468099984e-08 8.614376916576281e-16 2.4519936745999982e-08" group="3" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link1_1" />
    <exclude body1="link1_1" body2="link2_1" />
    <exclude body1="link2_1" body2="link3_1" />
    <exclude body1="link3_1" body2="link4_1" />
    <exclude body1="link4_1" body2="link5_1" />
    <exclude body1="link5_1" body2="clamp1_1" />
    <exclude body1="link5_1" body2="clamp2_1" />
  </contact>
</mujoco>
