nq=19 nv=18 nbody=14 ngeom=32 nu=24 nexclude=78
opt: timestep=0.002 cone=0 iterations=100 gravity=[np.float64(-0.0), np.float64(-0.0), np.float64(-9.8100004196167)]
body 0 world                    mass=0 ipos=[0.0, 0.0, 0.0] pos=[0.0, 0.0, 0.0] inertia=[0.0, 0.0, 0.0]
body 1 body_0                   mass=7.28738 ipos=[0.02, 0.0, -0.005] pos=[0.0, 0.0, 0.33] inertia=[0.11315079778432846, 0.10345052927732468, 0.025725532323122025]
body 2 body_1                   mass=0.767 ipos=[-0.005, 0.002, -0.0] pos=[0.193, 0.047, 0.0] inertia=[0.0009981526527553797, 0.0006582884234376252, 0.0005399722140282393]
body 3 body_2                   mass=1.241 ipos=[-0.003, -0.023, -0.03] pos=[0.0, 0.095, 0.0] inertia=[0.006151531357318163, 0.006003504153341055, 0.0009417799301445484]
body 4 body_3                   mass=0.194 ipos=[0.004, -0.001, -0.135] pos=[0.0, 0.0, -0.213] inertia=[0.0014156108954921365, 0.0013945696409791708, 4.339042425272055e-05]
body 5 body_4                   mass=0.767 ipos=[-0.005, -0.002, -0.0] pos=[0.193, -0.047, 0.0] inertia=[0.0009981526527553797, 0.0006582884234376252, 0.0005399722140282393]
body 6 body_5                   mass=1.241 ipos=[-0.003, 0.023, -0.03] pos=[0.0, -0.095, 0.0] inertia=[0.0061515336856245995, 0.0060035064816474915, 0.0009417799301445484]
body 7 body_6                   mass=0.194 ipos=[0.004, 0.001, -0.135] pos=[0.0, 0.0, -0.213] inertia=[0.0014156108954921365, 0.0013945696409791708, 4.339042425272055e-05]
body 8 body_7                   mass=0.767 ipos=[0.005, 0.002, -0.0] pos=[-0.193, 0.047, 0.0] inertia=[0.0009981526527553797, 0.0006582884234376252, 0.0005399722140282393]
body 9 body_8                   mass=1.241 ipos=[-0.003, -0.023, -0.03] pos=[0.0, 0.095, 0.0] inertia=[0.006151531357318163, 0.006003504153341055, 0.0009417799301445484]
body 10 body_9                   mass=0.194 ipos=[0.004, -0.001, -0.135] pos=[0.0, 0.0, -0.213] inertia=[0.0014156108954921365, 0.0013945696409791708, 4.339042425272055e-05]
body 11 body_10                  mass=0.767 ipos=[0.005, -0.002, -0.0] pos=[-0.193, -0.047, 0.0] inertia=[0.0009981526527553797, 0.0006582884234376252, 0.0005399722140282393]
body 12 body_11                  mass=1.241 ipos=[-0.003, 0.023, -0.03] pos=[0.0, -0.095, 0.0] inertia=[0.0061515336856245995, 0.0060035064816474915, 0.0009417799301445484]
body 13 body_12                  mass=0.194 ipos=[0.004, 0.001, -0.135] pos=[0.0, 0.0, -0.213] inertia=[0.0014156108954921365, 0.0013945696409791708, 4.339042425272055e-05]
jnt 0 joint_1                  type=0 limited=0 range=[-10000000000.0, 10000000000.0] stiffness=0 actfrc=[-1000000.0, 1000000.0] (lim=0)
jnt 1 joint_2                  type=3 limited=1 range=[-1.0471999645233154, 1.0471999645233154] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 2 joint_6                  type=3 limited=1 range=[-1.5707999467849731, 3.4907000064849854] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 3 joint_10                 type=3 limited=1 range=[-2.7227001190185547, -0.8377599716186523] stiffness=0 actfrc=[-45.43000030517578, 45.43000030517578] (lim=1)
jnt 4 joint_3                  type=3 limited=1 range=[-1.0471999645233154, 1.0471999645233154] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 5 joint_7                  type=3 limited=1 range=[-1.5707999467849731, 3.4907000064849854] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 6 joint_11                 type=3 limited=1 range=[-2.7227001190185547, -0.8377599716186523] stiffness=0 actfrc=[-45.43000030517578, 45.43000030517578] (lim=1)
jnt 7 joint_4                  type=3 limited=1 range=[-1.0471999645233154, 1.0471999645233154] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 8 joint_8                  type=3 limited=1 range=[-0.5235999822616577, 4.537899971008301] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 9 joint_12                 type=3 limited=1 range=[-2.7227001190185547, -0.8377599716186523] stiffness=0 actfrc=[-45.43000030517578, 45.43000030517578] (lim=1)
jnt 10 joint_5                  type=3 limited=1 range=[-1.0471999645233154, 1.0471999645233154] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 11 joint_9                  type=3 limited=1 range=[-0.5235999822616577, 4.537899971008301] stiffness=0 actfrc=[-23.700000762939453, 23.700000762939453] (lim=1)
jnt 12 joint_13                 type=3 limited=1 range=[-2.7227001190185547, -0.8377599716186523] stiffness=0 actfrc=[-45.43000030517578, 45.43000030517578] (lim=1)
opt cone=0 impratio=1.0 noslip=0 o_solref=[0.02, 1.0] timestep=0.002
geom 0 shape_0_0                body=0 type=6 condim=3 contype=0 conaff=15 fric=[2.0, 0.005, 0.0] size=[30.01, 0.005, 0.025] pos=[0.0, -3.005, 0.025] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 1 shape_1_1                body=0 type=6 condim=3 contype=3 conaff=12 fric=[2.0, 0.005, 0.0] size=[30.01, 0.005, 0.025] pos=[0.0, 3.005, 0.025] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 2 shape_2_2                body=0 type=6 condim=3 contype=5 conaff=10 fric=[2.0, 0.005, 0.0] size=[0.005, 3.0, 0.025] pos=[-30.005, 0.0, 0.025] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 3 shape_3_3                body=0 type=6 condim=3 contype=9 conaff=6 fric=[2.0, 0.005, 0.0] size=[0.005, 3.0, 0.025] pos=[30.005, 0.0, 0.025] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 4 ground_plane_45          body=0 type=0 condim=3 contype=16 conaff=0 fric=[2.0, 0.005, 0.0] size=[5.0, 5.0, 5.0] pos=[0.0, 0.0, 0.0] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 5 shape_4_4                body=1 type=6 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.1881, 0.0468, 0.057] pos=[0.0, 0.0, 0.0] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 6 shape_11_11              body=1 type=5 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.05, 0.045, 0.05] pos=[0.285, 0.0, 0.01] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 7 shape_12_12              body=1 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.047, 0.047, 0.047] pos=[0.293, 0.0, -0.06] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 8 shape_13_13              body=2 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.046, 0.02, 0.046] pos=[0.0, 0.08, 0.0] quat=[0.7071, 0.7071, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 9 shape_15_15              body=3 type=6 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.1065, 0.0122, 0.017] pos=[0.0, 0.0, -0.106] quat=[0.7071, 0.0, 0.7071, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 10 shape_17_17              body=4 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[0.0, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 11 shape_18_18              body=4 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[-0.002, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 12 shape_19_19              body=4 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.011, 0.0215, 0.011] pos=[0.02, 0.0, -0.148] quat=[0.9997, 0.0, 0.025, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 13 shape_20_20              body=4 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.0155, 0.015, 0.0155] pos=[0.008, 0.0, -0.187] quat=[0.9651, 0.0, 0.2619, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 14 shape_21_21              body=5 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.046, 0.02, 0.046] pos=[0.0, -0.08, 0.0] quat=[0.7071, 0.7071, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 15 shape_23_23              body=6 type=6 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.1065, 0.0122, 0.017] pos=[0.0, 0.0, -0.106] quat=[0.7071, 0.0, 0.7071, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 16 shape_25_25              body=7 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[0.0, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 17 shape_26_26              body=7 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[-0.002, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 18 shape_27_27              body=7 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.011, 0.0215, 0.011] pos=[0.02, 0.0, -0.148] quat=[0.9997, 0.0, 0.025, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 19 shape_28_28              body=7 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.0155, 0.015, 0.0155] pos=[0.008, 0.0, -0.187] quat=[0.9651, 0.0, 0.2619, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 20 shape_29_29              body=8 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.046, 0.02, 0.046] pos=[0.0, 0.08, 0.0] quat=[0.7071, 0.7071, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 21 shape_31_31              body=9 type=6 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.1065, 0.0122, 0.017] pos=[0.0, 0.0, -0.106] quat=[0.7071, 0.0, 0.7071, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 22 shape_33_33              body=10 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[0.0, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 23 shape_34_34              body=10 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[-0.002, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 24 shape_35_35              body=10 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.011, 0.0215, 0.011] pos=[0.02, 0.0, -0.148] quat=[0.9997, 0.0, 0.025, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 25 shape_36_36              body=10 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.0155, 0.015, 0.0155] pos=[0.008, 0.0, -0.187] quat=[0.9651, 0.0, 0.2619, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 26 shape_37_37              body=11 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.046, 0.02, 0.046] pos=[0.0, -0.08, 0.0] quat=[0.7071, 0.7071, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 27 shape_39_39              body=12 type=6 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.1065, 0.0122, 0.017] pos=[0.0, 0.0, -0.106] quat=[0.7071, 0.0, 0.7071, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 28 shape_41_41              body=13 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[0.0, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 29 shape_42_42              body=13 type=2 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.022, 0.022, 0.022] pos=[-0.002, 0.0, -0.213] quat=[1.0, 0.0, 0.0, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 30 shape_43_43              body=13 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.011, 0.0215, 0.011] pos=[0.02, 0.0, -0.148] quat=[0.9997, 0.0, 0.025, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
geom 31 shape_44_44              body=13 type=3 condim=3 contype=1 conaff=30 fric=[2.0, 0.005, 0.0] size=[0.0155, 0.015, 0.0155] pos=[0.008, 0.0, -0.187] quat=[0.9651, 0.0, 0.2619, 0.0] solref=[0.02, 1.0] solimp=[0.9, 0.95, 0.001, 0.5, 2.0]
act 0 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(1), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 1 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(1), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 2 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(2), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 3 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(2), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 4 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(3), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 5 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(3), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 6 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(4), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 7 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(4), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 8 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(5), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 9 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(5), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 10 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(6), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 11 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(6), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 12 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(7), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 13 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(7), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 14 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(8), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 15 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(8), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 16 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(9), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 17 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(9), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 18 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(10), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 19 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(10), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 20 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(11), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 21 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(11), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 22 gain=[250.0, 0.0, 0.0] bias=[0.0, -250.0, 0.0] trn=[np.int32(12), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
act 23 gain=[6.0, 0.0, 0.0] bias=[0.0, 0.0, -6.0] trn=[np.int32(12), np.int32(-1)] forcerange=[0.0, 0.0] (lim=0) ctrlrange=[0.0, 0.0] (lim=0)
dof 0 damping=0.00 armature=0.0000 frictionloss=0.000
dof 1 damping=0.00 armature=0.0000 frictionloss=0.000
dof 2 damping=0.00 armature=0.0000 frictionloss=0.000
dof 3 damping=0.00 armature=0.0000 frictionloss=0.000
dof 4 damping=0.00 armature=0.0000 frictionloss=0.000
dof 5 damping=0.00 armature=0.0000 frictionloss=0.000
dof 6 damping=0.00 armature=0.0000 frictionloss=0.000
dof 7 damping=0.00 armature=0.0000 frictionloss=0.000
dof 8 damping=0.00 armature=0.0000 frictionloss=0.000
dof 9 damping=0.00 armature=0.0000 frictionloss=0.000
dof 10 damping=0.00 armature=0.0000 frictionloss=0.000
dof 11 damping=0.00 armature=0.0000 frictionloss=0.000
dof 12 damping=0.00 armature=0.0000 frictionloss=0.000
dof 13 damping=0.00 armature=0.0000 frictionloss=0.000
dof 14 damping=0.00 armature=0.0000 frictionloss=0.000
dof 15 damping=0.00 armature=0.0000 frictionloss=0.000
dof 16 damping=0.00 armature=0.0000 frictionloss=0.000
dof 17 damping=0.00 armature=0.0000 frictionloss=0.000
