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                                <geom name="breast_oneG0_3_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_3_3" pos="-0.084608 -0.0282027 -0.00940089" quat="0.669019 0.235035 -0.705105 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_3_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_3_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_3_4" pos="-0.084608 -0.0282027 0.00940089" quat="0.743246 0.211562 -0.634687 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_3_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_3_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_3_5" pos="-0.079094 -0.0263647 0.0263647" quat="0.806694 0.186881 -0.560642 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_3_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_3_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_3_6" pos="-0.070682 -0.0235607 0.0392678" quat="0.856228 0.163363 -0.490088 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_3_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_3_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_3_7" pos="-0.0619422 -0.0206474 0.0481773" quat="0.892674 0.142525 -0.427575 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_0" pos="-0.0634441 -0.00704934 -0.0493454" quat="0.440685 0.0991301 -0.892171 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_1" pos="-0.0729385 -0.00810428 -0.0405214" quat="0.508248 0.0951048 -0.855943 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_2" pos="-0.082295 -0.00914389 -0.0274317" quat="0.585455 0.0895274 -0.805747 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_3" pos="-0.0885613 -0.00984015 -0.00984015" quat="0.667172 0.0822609 -0.740348 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_4" pos="-0.0885613 -0.00984015 0.00984015" quat="0.744904 0.0736768 -0.663091 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_5" pos="-0.082295 -0.00914389 0.0274317" quat="0.810705 0.0646527 -0.581874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_6" pos="-0.0729385 -0.00810428 0.0405214" quat="0.861211 0.0561266 -0.505139 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_4_7" pos="-0.0634441 -0.00704934 0.0493454" quat="0.897662 0.0486656 -0.43799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_0" pos="-0.0634441 0.00704934 -0.0493454" quat="0.440685 -0.0991301 -0.892171 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_1" pos="-0.0729385 0.00810428 -0.0405214" quat="0.508248 -0.0951048 -0.855943 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_2" pos="-0.082295 0.00914389 -0.0274317" quat="0.585455 -0.0895274 -0.805747 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_3" pos="-0.0885613 0.00984015 -0.00984015" quat="0.667172 -0.0822609 -0.740348 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_4" pos="-0.0885613 0.00984015 0.00984015" quat="0.744904 -0.0736768 -0.663091 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_5" pos="-0.082295 0.00914389 0.0274317" quat="0.810705 -0.0646527 -0.581874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_6" pos="-0.0729385 0.00810428 0.0405214" quat="0.861211 -0.0561266 -0.505139 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_5_7" pos="-0.0634441 0.00704934 0.0493454" quat="0.897662 -0.0486656 -0.43799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_0" pos="-0.0619422 0.0206474 -0.0481773" quat="0.450704 -0.282288 -0.846865 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_1" pos="-0.070682 0.0235607 -0.0392678" quat="0.516598 -0.270763 -0.812289 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_2" pos="-0.079094 0.0263647 -0.0263647" quat="0.590969 -0.255099 -0.765297 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_3" pos="-0.084608 0.0282027 -0.00940089" quat="0.669019 -0.235035 -0.705105 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_4" pos="-0.084608 0.0282027 0.00940089" quat="0.743246 -0.211562 -0.634687 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_5" pos="-0.079094 0.0263647 0.0263647" quat="0.806694 -0.186881 -0.560642 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_6" pos="-0.070682 0.0235607 0.0392678" quat="0.856228 -0.163363 -0.490088 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_6_7" pos="-0.0619422 0.0206474 0.0481773" quat="0.892674 -0.142525 -0.427575 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_0" pos="-0.0592331 0.0329073 -0.0460702" quat="0.467839 -0.429218 -0.772592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_1" pos="-0.0667336 0.0370742 -0.0370742" quat="0.530635 -0.411631 -0.740936 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_2" pos="-0.0736737 0.0409298 -0.0245579" quat="0.600104 -0.388477 -0.699258 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_3" pos="-0.0780678 0.043371 -0.0086742" quat="0.672059 -0.359617 -0.647311 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_4" pos="-0.0780678 0.043371 0.0086742" quat="0.740498 -0.326381 -0.587485 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_5" pos="-0.0736737 0.0409298 0.0245579" quat="0.799922 -0.291436 -0.524585 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_6" pos="-0.0667336 0.0370742 0.0370742" quat="0.8476 -0.257699 -0.463859 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_7_7" pos="-0.0592331 0.0329073 0.0460702" quat="0.883814 -0.227203 -0.408965 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_0" pos="-0.0557627 0.043371 -0.043371" quat="0.48826 -0.535785 -0.688866 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_1" pos="-0.0618832 0.0481314 -0.0343796" quat="0.546987 -0.513955 -0.660799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_2" pos="-0.0672953 0.0523408 -0.0224318" quat="0.61055 -0.486227 -0.625149 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_3" pos="-0.0705943 0.0549067 -0.00784381" quat="0.675511 -0.452689 -0.582029 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_4" pos="-0.0705943 0.0549067 0.00784381" quat="0.73735 -0.414723 -0.533216 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_5" pos="-0.0672953 0.0523408 0.0224318" quat="0.791977 -0.374842 -0.481939 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_6" pos="-0.0618832 0.0481314 0.0343796" quat="0.837141 -0.335818 -0.431766 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_8_7" pos="-0.0557627 0.043371 0.043371" quat="0.872698 -0.299763 -0.385409 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_0" pos="-0.0519615 0.0519615 -0.0404145" quat="0.50897 -0.608667 -0.608667 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_1" pos="-0.0568052 0.0568052 -0.0315584" quat="0.563189 -0.584302 -0.584302 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_2" pos="-0.0609044 0.0609044 -0.0203015" quat="0.620719 -0.554395 -0.554395 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_3" pos="-0.0633174 0.0633174 -0.00703526" quat="0.67885 -0.519212 -0.519212 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_4" pos="-0.0633174 0.0633174 0.00703526" quat="0.734277 -0.480019 -0.480019 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_5" pos="-0.0609044 0.0609044 0.0203015" quat="0.784033 -0.438915 -0.438915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_6" pos="-0.0568052 0.0568052 0.0315584" quat="0.826328 -0.398235 -0.398235 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB0_9_7" pos="-0.0519615 0.0519615 0.0404145" quat="0.860784 -0.359896 -0.359896 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ0_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG0_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_0" pos="-0.043371 -0.0557627 -0.043371" quat="0.48826 0.688866 -0.535785 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_1" pos="-0.0481314 -0.0618832 -0.0343796" quat="0.546987 0.660799 -0.513955 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_2" pos="-0.0523408 -0.0672953 -0.0224318" quat="0.61055 0.625149 -0.486227 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_3" pos="-0.0549067 -0.0705943 -0.00784381" quat="0.675511 0.582029 -0.452689 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_4" pos="-0.0549067 -0.0705943 0.00784381" quat="0.73735 0.533216 -0.414723 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_5" pos="-0.0523408 -0.0672953 0.0224318" quat="0.791977 0.481939 -0.374842 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_6" pos="-0.0481314 -0.0618832 0.0343796" quat="0.837141 0.431766 -0.335818 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_0_7" pos="-0.043371 -0.0557627 0.043371" quat="0.872698 0.385409 -0.299763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_1_0" pos="-0.0470884 -0.0470884 -0.0470884" quat="0.459701 0.627963 -0.627963 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_1_7" pos="-0.0470884 -0.0470884 0.0470884" quat="0.888074 0.325058 -0.325058 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_2_0" pos="-0.0506028 -0.0361449 -0.0506028" quat="0.429436 0.524915 -0.73488 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_2_7" pos="-0.0506028 -0.0361449 0.0506028" quat="0.903097 0.249605 -0.349447 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_3_0" pos="-0.0534359 -0.0229011 -0.0534359" quat="0.402048 0.36068 -0.841586 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_3_7" pos="-0.0534359 -0.0229011 0.0534359" quat="0.915619 0.158374 -0.36954 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_4_0" pos="-0.0550434 -0.00786334 -0.0550434" quat="0.385015 0.130519 -0.913634 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_4_7" pos="-0.0550434 -0.00786334 0.0550434" quat="0.92291 0.0544494 -0.381146 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_5_0" pos="-0.0550434 0.00786334 -0.0550434" quat="0.385015 -0.130519 -0.913634 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_5_7" pos="-0.0550434 0.00786334 0.0550434" quat="0.92291 -0.0544494 -0.381146 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_6_0" pos="-0.0534359 0.0229011 -0.0534359" quat="0.402048 -0.36068 -0.841586 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_6_7" pos="-0.0534359 0.0229011 0.0534359" quat="0.915619 -0.158374 -0.36954 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_7_0" pos="-0.0506028 0.0361449 -0.0506028" quat="0.429436 -0.524915 -0.73488 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_7_7" pos="-0.0506028 0.0361449 0.0506028" quat="0.903097 -0.249605 -0.349447 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_8_0" pos="-0.0470884 0.0470884 -0.0470884" quat="0.459701 -0.627963 -0.627963 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_8_7" pos="-0.0470884 0.0470884 0.0470884" quat="0.888074 -0.325058 -0.325058 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_0" pos="-0.043371 0.0557627 -0.043371" quat="0.48826 -0.688866 -0.535785 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_1" pos="-0.0481314 0.0618832 -0.0343796" quat="0.546987 -0.660799 -0.513955 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_2" pos="-0.0523408 0.0672953 -0.0224318" quat="0.61055 -0.625149 -0.486227 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_3" pos="-0.0549067 0.0705943 -0.00784381" quat="0.675511 -0.582029 -0.452689 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_4" pos="-0.0549067 0.0705943 0.00784381" quat="0.73735 -0.533216 -0.414723 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_5" pos="-0.0523408 0.0672953 0.0224318" quat="0.791977 -0.481939 -0.374842 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_6" pos="-0.0481314 0.0618832 0.0343796" quat="0.837141 -0.431766 -0.335818 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB1_9_7" pos="-0.043371 0.0557627 0.043371" quat="0.872698 -0.385409 -0.299763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ1_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG1_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_0" pos="-0.0329073 -0.0592331 -0.0460702" quat="0.467839 0.772592 -0.429218 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_1" pos="-0.0370742 -0.0667336 -0.0370742" quat="0.530635 0.740936 -0.411631 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_2" pos="-0.0409298 -0.0736737 -0.0245579" quat="0.600104 0.699258 -0.388477 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_3" pos="-0.043371 -0.0780678 -0.0086742" quat="0.672059 0.647311 -0.359617 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_4" pos="-0.043371 -0.0780678 0.0086742" quat="0.740498 0.587485 -0.326381 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_5" pos="-0.0409298 -0.0736737 0.0245579" quat="0.799922 0.524585 -0.291436 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_6" pos="-0.0370742 -0.0667336 0.0370742" quat="0.8476 0.463859 -0.257699 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_0_7" pos="-0.0329073 -0.0592331 0.0460702" quat="0.883814 0.408965 -0.227203 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_1_0" pos="-0.0361449 -0.0506028 -0.0506028" quat="0.429436 0.73488 -0.524915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_1_7" pos="-0.0361449 -0.0506028 0.0506028" quat="0.903097 0.349447 -0.249605 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_2_0" pos="-0.0393167 -0.0393167 -0.0550434" quat="0.385015 0.652596 -0.652596 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_2_7" pos="-0.0393167 -0.0393167 0.0550434" quat="0.92291 0.272247 -0.272247 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_3_0" pos="-0.0419627 -0.0251776 -0.0587478" quat="0.340331 0.483783 -0.806306 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_3_7" pos="-0.0419627 -0.0251776 0.0587478" quat="0.940306 0.175099 -0.291831 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_4_0" pos="-0.0435031 -0.00870063 -0.0609044" quat="0.309604 0.18648 -0.9324 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_4_7" pos="-0.0435031 -0.00870063 0.0609044" quat="0.950865 0.0607184 -0.303592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_5_0" pos="-0.0435031 0.00870063 -0.0609044" quat="0.309604 -0.18648 -0.9324 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_5_7" pos="-0.0435031 0.00870063 0.0609044" quat="0.950865 -0.0607184 -0.303592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_6_0" pos="-0.0419627 0.0251776 -0.0587478" quat="0.340331 -0.483783 -0.806306 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_6_7" pos="-0.0419627 0.0251776 0.0587478" quat="0.940306 -0.175099 -0.291831 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_7_0" pos="-0.0393167 0.0393167 -0.0550434" quat="0.385015 -0.652596 -0.652596 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_7_7" pos="-0.0393167 0.0393167 0.0550434" quat="0.92291 -0.272247 -0.272247 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_8_0" pos="-0.0361449 0.0506028 -0.0506028" quat="0.429436 -0.73488 -0.524915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_8_7" pos="-0.0361449 0.0506028 0.0506028" quat="0.903097 -0.349447 -0.249605 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_0" pos="-0.0329073 0.0592331 -0.0460702" quat="0.467839 -0.772592 -0.429218 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_1" pos="-0.0370742 0.0667336 -0.0370742" quat="0.530635 -0.740936 -0.411631 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_2" pos="-0.0409298 0.0736737 -0.0245579" quat="0.600104 -0.699258 -0.388477 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_3" pos="-0.043371 0.0780678 -0.0086742" quat="0.672059 -0.647311 -0.359617 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_4" pos="-0.043371 0.0780678 0.0086742" quat="0.740498 -0.587485 -0.326381 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_5" pos="-0.0409298 0.0736737 0.0245579" quat="0.799922 -0.524585 -0.291436 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_6" pos="-0.0370742 0.0667336 0.0370742" quat="0.8476 -0.463859 -0.257699 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB2_9_7" pos="-0.0329073 0.0592331 0.0460702" quat="0.883814 -0.408965 -0.227203 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ2_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG2_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_0" pos="-0.0206474 -0.0619422 -0.0481773" quat="0.450704 0.846865 -0.282288 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_1" pos="-0.0235607 -0.070682 -0.0392678" quat="0.516598 0.812289 -0.270763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_2" pos="-0.0263647 -0.079094 -0.0263647" quat="0.590969 0.765297 -0.255099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_3" pos="-0.0282027 -0.084608 -0.00940089" quat="0.669019 0.705105 -0.235035 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_4" pos="-0.0282027 -0.084608 0.00940089" quat="0.743246 0.634687 -0.211562 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_5" pos="-0.0263647 -0.079094 0.0263647" quat="0.806694 0.560642 -0.186881 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_6" pos="-0.0235607 -0.070682 0.0392678" quat="0.856228 0.490088 -0.163363 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_0_7" pos="-0.0206474 -0.0619422 0.0481773" quat="0.892674 0.427575 -0.142525 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_1_0" pos="-0.0229011 -0.0534359 -0.0534359" quat="0.402048 0.841586 -0.36068 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_1_7" pos="-0.0229011 -0.0534359 0.0534359" quat="0.915619 0.36954 -0.158374 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_2_0" pos="-0.0251776 -0.0419627 -0.0587478" quat="0.340331 0.806306 -0.483783 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_2_7" pos="-0.0251776 -0.0419627 0.0587478" quat="0.940306 0.291831 -0.175099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_3_0" pos="-0.027136 -0.027136 -0.0633174" quat="0.269085 0.681026 -0.681026 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_3_7" pos="-0.027136 -0.027136 0.0633174" quat="0.963116 0.190272 -0.190272 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_4_0" pos="-0.0283037 -0.00943456 -0.0660419" quat="0.210568 0.309138 -0.927413 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_4_7" pos="-0.0283037 -0.00943456 0.0660419" quat="0.977579 0.0665874 -0.199762 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_5_0" pos="-0.0283037 0.00943456 -0.0660419" quat="0.210568 -0.309138 -0.927413 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_5_7" pos="-0.0283037 0.00943456 0.0660419" quat="0.977579 -0.0665874 -0.199762 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_6_0" pos="-0.027136 0.027136 -0.0633174" quat="0.269085 -0.681026 -0.681026 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_6_7" pos="-0.027136 0.027136 0.0633174" quat="0.963116 -0.190272 -0.190272 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_7_0" pos="-0.0251776 0.0419627 -0.0587478" quat="0.340331 -0.806306 -0.483783 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_7_7" pos="-0.0251776 0.0419627 0.0587478" quat="0.940306 -0.291831 -0.175099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_8_0" pos="-0.0229011 0.0534359 -0.0534359" quat="0.402048 -0.841586 -0.36068 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_8_7" pos="-0.0229011 0.0534359 0.0534359" quat="0.915619 -0.36954 -0.158374 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_0" pos="-0.0206474 0.0619422 -0.0481773" quat="0.450704 -0.846865 -0.282288 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_1" pos="-0.0235607 0.070682 -0.0392678" quat="0.516598 -0.812289 -0.270763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_2" pos="-0.0263647 0.079094 -0.0263647" quat="0.590969 -0.765297 -0.255099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_3" pos="-0.0282027 0.084608 -0.00940089" quat="0.669019 -0.705105 -0.235035 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_4" pos="-0.0282027 0.084608 0.00940089" quat="0.743246 -0.634687 -0.211562 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_5" pos="-0.0263647 0.079094 0.0263647" quat="0.806694 -0.560642 -0.186881 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_6" pos="-0.0235607 0.070682 0.0392678" quat="0.856228 -0.490088 -0.163363 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB3_9_7" pos="-0.0206474 0.0619422 0.0481773" quat="0.892674 -0.427575 -0.142525 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ3_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG3_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_0" pos="-0.00704934 -0.0634441 -0.0493454" quat="0.440685 0.892171 -0.0991301 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_1" pos="-0.00810428 -0.0729385 -0.0405214" quat="0.508248 0.855943 -0.0951048 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_2" pos="-0.00914389 -0.082295 -0.0274317" quat="0.585455 0.805747 -0.0895274 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_3" pos="-0.00984015 -0.0885613 -0.00984015" quat="0.667172 0.740348 -0.0822609 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_4" pos="-0.00984015 -0.0885613 0.00984015" quat="0.744904 0.663091 -0.0736768 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_5" pos="-0.00914389 -0.082295 0.0274317" quat="0.810705 0.581874 -0.0646527 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_6" pos="-0.00810428 -0.0729385 0.0405214" quat="0.861211 0.505139 -0.0561266 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_0_7" pos="-0.00704934 -0.0634441 0.0493454" quat="0.897662 0.43799 -0.0486656 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_1_0" pos="-0.00786334 -0.0550434 -0.0550434" quat="0.385015 0.913634 -0.130519 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_1_7" pos="-0.00786334 -0.0550434 0.0550434" quat="0.92291 0.381146 -0.0544494 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_2_0" pos="-0.00870063 -0.0435031 -0.0609044" quat="0.309604 0.9324 -0.18648 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_2_7" pos="-0.00870063 -0.0435031 0.0609044" quat="0.950865 0.303592 -0.0607184 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_3_0" pos="-0.00943456 -0.0283037 -0.0660419" quat="0.210568 0.927413 -0.309138 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_3_7" pos="-0.00943456 -0.0283037 0.0660419" quat="0.977579 0.199762 -0.0665874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_4_0" pos="-0.00987878 -0.00987878 -0.0691515" quat="0.0995086 0.703597 -0.703597 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_4_7" pos="-0.00987878 -0.00987878 0.0691515" quat="0.995037 0.0703632 -0.0703632 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_5_0" pos="-0.00987878 0.00987878 -0.0691515" quat="0.0995086 -0.703597 -0.703597 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_5_7" pos="-0.00987878 0.00987878 0.0691515" quat="0.995037 -0.0703632 -0.0703632 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_6_0" pos="-0.00943456 0.0283037 -0.0660419" quat="0.210568 -0.927413 -0.309138 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_6_7" pos="-0.00943456 0.0283037 0.0660419" quat="0.977579 -0.199762 -0.0665874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_7_0" pos="-0.00870063 0.0435031 -0.0609044" quat="0.309604 -0.9324 -0.18648 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_7_7" pos="-0.00870063 0.0435031 0.0609044" quat="0.950865 -0.303592 -0.0607184 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_8_0" pos="-0.00786334 0.0550434 -0.0550434" quat="0.385015 -0.913634 -0.130519 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_8_7" pos="-0.00786334 0.0550434 0.0550434" quat="0.92291 -0.381146 -0.0544494 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_0" pos="-0.00704934 0.0634441 -0.0493454" quat="0.440685 -0.892171 -0.0991301 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_1" pos="-0.00810428 0.0729385 -0.0405214" quat="0.508248 -0.855943 -0.0951048 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_2" pos="-0.00914389 0.082295 -0.0274317" quat="0.585455 -0.805747 -0.0895274 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_3" pos="-0.00984015 0.0885613 -0.00984015" quat="0.667172 -0.740348 -0.0822609 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_4" pos="-0.00984015 0.0885613 0.00984015" quat="0.744904 -0.663091 -0.0736768 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_5" pos="-0.00914389 0.082295 0.0274317" quat="0.810705 -0.581874 -0.0646527 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_6" pos="-0.00810428 0.0729385 0.0405214" quat="0.861211 -0.505139 -0.0561266 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB4_9_7" pos="-0.00704934 0.0634441 0.0493454" quat="0.897662 -0.43799 -0.0486656 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ4_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG4_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_0" pos="0.00704934 -0.0634441 -0.0493454" quat="0.440685 0.892171 0.0991301 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_1" pos="0.00810428 -0.0729385 -0.0405214" quat="0.508248 0.855943 0.0951048 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_2" pos="0.00914389 -0.082295 -0.0274317" quat="0.585455 0.805747 0.0895274 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_3" pos="0.00984015 -0.0885613 -0.00984015" quat="0.667172 0.740348 0.0822609 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_4" pos="0.00984015 -0.0885613 0.00984015" quat="0.744904 0.663091 0.0736768 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_5" pos="0.00914389 -0.082295 0.0274317" quat="0.810705 0.581874 0.0646527 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_6" pos="0.00810428 -0.0729385 0.0405214" quat="0.861211 0.505139 0.0561266 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_0_7" pos="0.00704934 -0.0634441 0.0493454" quat="0.897662 0.43799 0.0486656 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_1_0" pos="0.00786334 -0.0550434 -0.0550434" quat="0.385015 0.913634 0.130519 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_1_7" pos="0.00786334 -0.0550434 0.0550434" quat="0.92291 0.381146 0.0544494 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_2_0" pos="0.00870063 -0.0435031 -0.0609044" quat="0.309604 0.9324 0.18648 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_2_7" pos="0.00870063 -0.0435031 0.0609044" quat="0.950865 0.303592 0.0607184 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_3_0" pos="0.00943456 -0.0283037 -0.0660419" quat="0.210568 0.927413 0.309138 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_3_7" pos="0.00943456 -0.0283037 0.0660419" quat="0.977579 0.199762 0.0665874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_4_0" pos="0.00987878 -0.00987878 -0.0691515" quat="0.0995086 0.703597 0.703597 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_4_7" pos="0.00987878 -0.00987878 0.0691515" quat="0.995037 0.0703632 0.0703632 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_5_0" pos="0.00987878 0.00987878 -0.0691515" quat="0.0995086 -0.703597 0.703597 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_5_7" pos="0.00987878 0.00987878 0.0691515" quat="0.995037 -0.0703632 0.0703632 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_6_0" pos="0.00943456 0.0283037 -0.0660419" quat="0.210568 -0.927413 0.309138 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_6_7" pos="0.00943456 0.0283037 0.0660419" quat="0.977579 -0.199762 0.0665874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_7_0" pos="0.00870063 0.0435031 -0.0609044" quat="0.309604 -0.9324 0.18648 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_7_7" pos="0.00870063 0.0435031 0.0609044" quat="0.950865 -0.303592 0.0607184 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_8_0" pos="0.00786334 0.0550434 -0.0550434" quat="0.385015 -0.913634 0.130519 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_8_7" pos="0.00786334 0.0550434 0.0550434" quat="0.92291 -0.381146 0.0544494 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_0" pos="0.00704934 0.0634441 -0.0493454" quat="0.440685 -0.892171 0.0991301 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_1" pos="0.00810428 0.0729385 -0.0405214" quat="0.508248 -0.855943 0.0951048 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_2" pos="0.00914389 0.082295 -0.0274317" quat="0.585455 -0.805747 0.0895274 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_3" pos="0.00984015 0.0885613 -0.00984015" quat="0.667172 -0.740348 0.0822609 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_4" pos="0.00984015 0.0885613 0.00984015" quat="0.744904 -0.663091 0.0736768 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_5" pos="0.00914389 0.082295 0.0274317" quat="0.810705 -0.581874 0.0646527 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_6" pos="0.00810428 0.0729385 0.0405214" quat="0.861211 -0.505139 0.0561266 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB5_9_7" pos="0.00704934 0.0634441 0.0493454" quat="0.897662 -0.43799 0.0486656 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ5_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG5_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_0" pos="0.0206474 -0.0619422 -0.0481773" quat="0.450704 0.846865 0.282288 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_1" pos="0.0235607 -0.070682 -0.0392678" quat="0.516598 0.812289 0.270763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_2" pos="0.0263647 -0.079094 -0.0263647" quat="0.590969 0.765297 0.255099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_3" pos="0.0282027 -0.084608 -0.00940089" quat="0.669019 0.705105 0.235035 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_4" pos="0.0282027 -0.084608 0.00940089" quat="0.743246 0.634687 0.211562 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_5" pos="0.0263647 -0.079094 0.0263647" quat="0.806694 0.560642 0.186881 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_6" pos="0.0235607 -0.070682 0.0392678" quat="0.856228 0.490088 0.163363 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_0_7" pos="0.0206474 -0.0619422 0.0481773" quat="0.892674 0.427575 0.142525 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_1_0" pos="0.0229011 -0.0534359 -0.0534359" quat="0.402048 0.841586 0.36068 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_1_7" pos="0.0229011 -0.0534359 0.0534359" quat="0.915619 0.36954 0.158374 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_2_0" pos="0.0251776 -0.0419627 -0.0587478" quat="0.340331 0.806306 0.483783 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_2_7" pos="0.0251776 -0.0419627 0.0587478" quat="0.940306 0.291831 0.175099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_3_0" pos="0.027136 -0.027136 -0.0633174" quat="0.269085 0.681026 0.681026 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_3_7" pos="0.027136 -0.027136 0.0633174" quat="0.963116 0.190272 0.190272 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_4_0" pos="0.0283037 -0.00943456 -0.0660419" quat="0.210568 0.309138 0.927413 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_4_7" pos="0.0283037 -0.00943456 0.0660419" quat="0.977579 0.0665874 0.199762 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_5_0" pos="0.0283037 0.00943456 -0.0660419" quat="0.210568 -0.309138 0.927413 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_5_7" pos="0.0283037 0.00943456 0.0660419" quat="0.977579 -0.0665874 0.199762 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_6_0" pos="0.027136 0.027136 -0.0633174" quat="0.269085 -0.681026 0.681026 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_6_7" pos="0.027136 0.027136 0.0633174" quat="0.963116 -0.190272 0.190272 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_7_0" pos="0.0251776 0.0419627 -0.0587478" quat="0.340331 -0.806306 0.483783 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_7_7" pos="0.0251776 0.0419627 0.0587478" quat="0.940306 -0.291831 0.175099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_8_0" pos="0.0229011 0.0534359 -0.0534359" quat="0.402048 -0.841586 0.36068 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_8_7" pos="0.0229011 0.0534359 0.0534359" quat="0.915619 -0.36954 0.158374 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_0" pos="0.0206474 0.0619422 -0.0481773" quat="0.450704 -0.846865 0.282288 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_1" pos="0.0235607 0.070682 -0.0392678" quat="0.516598 -0.812289 0.270763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_2" pos="0.0263647 0.079094 -0.0263647" quat="0.590969 -0.765297 0.255099 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_3" pos="0.0282027 0.084608 -0.00940089" quat="0.669019 -0.705105 0.235035 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_4" pos="0.0282027 0.084608 0.00940089" quat="0.743246 -0.634687 0.211562 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_5" pos="0.0263647 0.079094 0.0263647" quat="0.806694 -0.560642 0.186881 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_6" pos="0.0235607 0.070682 0.0392678" quat="0.856228 -0.490088 0.163363 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB6_9_7" pos="0.0206474 0.0619422 0.0481773" quat="0.892674 -0.427575 0.142525 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ6_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG6_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_0" pos="0.0329073 -0.0592331 -0.0460702" quat="0.467839 0.772592 0.429218 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_1" pos="0.0370742 -0.0667336 -0.0370742" quat="0.530635 0.740936 0.411631 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_2" pos="0.0409298 -0.0736737 -0.0245579" quat="0.600104 0.699258 0.388477 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_3" pos="0.043371 -0.0780678 -0.0086742" quat="0.672059 0.647311 0.359617 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_4" pos="0.043371 -0.0780678 0.0086742" quat="0.740498 0.587485 0.326381 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_5" pos="0.0409298 -0.0736737 0.0245579" quat="0.799922 0.524585 0.291436 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_6" pos="0.0370742 -0.0667336 0.0370742" quat="0.8476 0.463859 0.257699 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_0_7" pos="0.0329073 -0.0592331 0.0460702" quat="0.883814 0.408965 0.227203 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_1_0" pos="0.0361449 -0.0506028 -0.0506028" quat="0.429436 0.73488 0.524915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_1_7" pos="0.0361449 -0.0506028 0.0506028" quat="0.903097 0.349447 0.249605 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_2_0" pos="0.0393167 -0.0393167 -0.0550434" quat="0.385015 0.652596 0.652596 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_2_7" pos="0.0393167 -0.0393167 0.0550434" quat="0.92291 0.272247 0.272247 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_3_0" pos="0.0419627 -0.0251776 -0.0587478" quat="0.340331 0.483783 0.806306 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_3_7" pos="0.0419627 -0.0251776 0.0587478" quat="0.940306 0.175099 0.291831 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_4_0" pos="0.0435031 -0.00870063 -0.0609044" quat="0.309604 0.18648 0.9324 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_4_7" pos="0.0435031 -0.00870063 0.0609044" quat="0.950865 0.0607184 0.303592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_5_0" pos="0.0435031 0.00870063 -0.0609044" quat="0.309604 -0.18648 0.9324 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_5_7" pos="0.0435031 0.00870063 0.0609044" quat="0.950865 -0.0607184 0.303592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_6_0" pos="0.0419627 0.0251776 -0.0587478" quat="0.340331 -0.483783 0.806306 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_6_7" pos="0.0419627 0.0251776 0.0587478" quat="0.940306 -0.175099 0.291831 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_7_0" pos="0.0393167 0.0393167 -0.0550434" quat="0.385015 -0.652596 0.652596 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_7_7" pos="0.0393167 0.0393167 0.0550434" quat="0.92291 -0.272247 0.272247 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_8_0" pos="0.0361449 0.0506028 -0.0506028" quat="0.429436 -0.73488 0.524915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_8_7" pos="0.0361449 0.0506028 0.0506028" quat="0.903097 -0.349447 0.249605 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_0" pos="0.0329073 0.0592331 -0.0460702" quat="0.467839 -0.772592 0.429218 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_1" pos="0.0370742 0.0667336 -0.0370742" quat="0.530635 -0.740936 0.411631 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_2" pos="0.0409298 0.0736737 -0.0245579" quat="0.600104 -0.699258 0.388477 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_3" pos="0.043371 0.0780678 -0.0086742" quat="0.672059 -0.647311 0.359617 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_4" pos="0.043371 0.0780678 0.0086742" quat="0.740498 -0.587485 0.326381 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_5" pos="0.0409298 0.0736737 0.0245579" quat="0.799922 -0.524585 0.291436 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_6" pos="0.0370742 0.0667336 0.0370742" quat="0.8476 -0.463859 0.257699 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB7_9_7" pos="0.0329073 0.0592331 0.0460702" quat="0.883814 -0.408965 0.227203 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ7_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG7_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_0" pos="0.043371 -0.0557627 -0.043371" quat="0.48826 0.688866 0.535785 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_1" pos="0.0481314 -0.0618832 -0.0343796" quat="0.546987 0.660799 0.513955 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_2" pos="0.0523408 -0.0672953 -0.0224318" quat="0.61055 0.625149 0.486227 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_3" pos="0.0549067 -0.0705943 -0.00784381" quat="0.675511 0.582029 0.452689 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_4" pos="0.0549067 -0.0705943 0.00784381" quat="0.73735 0.533216 0.414723 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_5" pos="0.0523408 -0.0672953 0.0224318" quat="0.791977 0.481939 0.374842 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_6" pos="0.0481314 -0.0618832 0.0343796" quat="0.837141 0.431766 0.335818 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_0_7" pos="0.043371 -0.0557627 0.043371" quat="0.872698 0.385409 0.299763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_1_0" pos="0.0470884 -0.0470884 -0.0470884" quat="0.459701 0.627963 0.627963 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_1_7" pos="0.0470884 -0.0470884 0.0470884" quat="0.888074 0.325058 0.325058 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_2_0" pos="0.0506028 -0.0361449 -0.0506028" quat="0.429436 0.524915 0.73488 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_2_7" pos="0.0506028 -0.0361449 0.0506028" quat="0.903097 0.249605 0.349447 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_3_0" pos="0.0534359 -0.0229011 -0.0534359" quat="0.402048 0.36068 0.841586 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_3_7" pos="0.0534359 -0.0229011 0.0534359" quat="0.915619 0.158374 0.36954 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_4_0" pos="0.0550434 -0.00786334 -0.0550434" quat="0.385015 0.130519 0.913634 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_4_7" pos="0.0550434 -0.00786334 0.0550434" quat="0.92291 0.0544494 0.381146 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_5_0" pos="0.0550434 0.00786334 -0.0550434" quat="0.385015 -0.130519 0.913634 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_5_7" pos="0.0550434 0.00786334 0.0550434" quat="0.92291 -0.0544494 0.381146 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_6_0" pos="0.0534359 0.0229011 -0.0534359" quat="0.402048 -0.36068 0.841586 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_6_7" pos="0.0534359 0.0229011 0.0534359" quat="0.915619 -0.158374 0.36954 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_7_0" pos="0.0506028 0.0361449 -0.0506028" quat="0.429436 -0.524915 0.73488 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_7_7" pos="0.0506028 0.0361449 0.0506028" quat="0.903097 -0.249605 0.349447 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_7_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_7_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_8_0" pos="0.0470884 0.0470884 -0.0470884" quat="0.459701 -0.627963 0.627963 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_8_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_8_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_8_7" pos="0.0470884 0.0470884 0.0470884" quat="0.888074 -0.325058 0.325058 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_8_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_0" pos="0.043371 0.0557627 -0.043371" quat="0.48826 -0.688866 0.535785 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_1" pos="0.0481314 0.0618832 -0.0343796" quat="0.546987 -0.660799 0.513955 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_2" pos="0.0523408 0.0672953 -0.0224318" quat="0.61055 -0.625149 0.486227 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_3" pos="0.0549067 0.0705943 -0.00784381" quat="0.675511 -0.582029 0.452689 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_4" pos="0.0549067 0.0705943 0.00784381" quat="0.73735 -0.533216 0.414723 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_5" pos="0.0523408 0.0672953 0.0224318" quat="0.791977 -0.481939 0.374842 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_6" pos="0.0481314 0.0618832 0.0343796" quat="0.837141 -0.431766 0.335818 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB8_9_7" pos="0.043371 0.0557627 0.043371" quat="0.872698 -0.385409 0.299763 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ8_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG8_9_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_0" pos="0.0519615 -0.0519615 -0.0404145" quat="0.50897 0.608667 0.608667 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_1" pos="0.0568052 -0.0568052 -0.0315584" quat="0.563189 0.584302 0.584302 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_2" pos="0.0609044 -0.0609044 -0.0203015" quat="0.620719 0.554395 0.554395 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_3" pos="0.0633174 -0.0633174 -0.00703526" quat="0.67885 0.519212 0.519212 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_4" pos="0.0633174 -0.0633174 0.00703526" quat="0.734277 0.480019 0.480019 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_5" pos="0.0609044 -0.0609044 0.0203015" quat="0.784033 0.438915 0.438915 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_6" pos="0.0568052 -0.0568052 0.0315584" quat="0.826328 0.398235 0.398235 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_0_7" pos="0.0519615 -0.0519615 0.0404145" quat="0.860784 0.359896 0.359896 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_0_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_0_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_0" pos="0.0557627 -0.043371 -0.043371" quat="0.48826 0.535785 0.688866 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_1" pos="0.0618832 -0.0481314 -0.0343796" quat="0.546987 0.513955 0.660799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_2" pos="0.0672953 -0.0523408 -0.0224318" quat="0.61055 0.486227 0.625149 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_3" pos="0.0705943 -0.0549067 -0.00784381" quat="0.675511 0.452689 0.582029 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_4" pos="0.0705943 -0.0549067 0.00784381" quat="0.73735 0.414723 0.533216 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_5" pos="0.0672953 -0.0523408 0.0224318" quat="0.791977 0.374842 0.481939 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_6" pos="0.0618832 -0.0481314 0.0343796" quat="0.837141 0.335818 0.431766 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_1_7" pos="0.0557627 -0.043371 0.043371" quat="0.872698 0.299763 0.385409 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_1_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_1_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_0" pos="0.0592331 -0.0329073 -0.0460702" quat="0.467839 0.429218 0.772592 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_1" pos="0.0667336 -0.0370742 -0.0370742" quat="0.530635 0.411631 0.740936 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_2" pos="0.0736737 -0.0409298 -0.0245579" quat="0.600104 0.388477 0.699258 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_3" pos="0.0780678 -0.043371 -0.0086742" quat="0.672059 0.359617 0.647311 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_4" pos="0.0780678 -0.043371 0.0086742" quat="0.740498 0.326381 0.587485 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_5" pos="0.0736737 -0.0409298 0.0245579" quat="0.799922 0.291436 0.524585 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_6" pos="0.0667336 -0.0370742 0.0370742" quat="0.8476 0.257699 0.463859 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_2_7" pos="0.0592331 -0.0329073 0.0460702" quat="0.883814 0.227203 0.408965 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_2_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_2_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_0" pos="0.0619422 -0.0206474 -0.0481773" quat="0.450704 0.282288 0.846865 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_1" pos="0.070682 -0.0235607 -0.0392678" quat="0.516598 0.270763 0.812289 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_2" pos="0.079094 -0.0263647 -0.0263647" quat="0.590969 0.255099 0.765297 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_3" pos="0.084608 -0.0282027 -0.00940089" quat="0.669019 0.235035 0.705105 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_4" pos="0.084608 -0.0282027 0.00940089" quat="0.743246 0.211562 0.634687 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_5" pos="0.079094 -0.0263647 0.0263647" quat="0.806694 0.186881 0.560642 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_6" pos="0.070682 -0.0235607 0.0392678" quat="0.856228 0.163363 0.490088 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_3_7" pos="0.0619422 -0.0206474 0.0481773" quat="0.892674 0.142525 0.427575 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_3_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_3_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_0" pos="0.0634441 -0.00704934 -0.0493454" quat="0.440685 0.0991301 0.892171 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_1" pos="0.0729385 -0.00810428 -0.0405214" quat="0.508248 0.0951048 0.855943 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_2" pos="0.082295 -0.00914389 -0.0274317" quat="0.585455 0.0895274 0.805747 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_3" pos="0.0885613 -0.00984015 -0.00984015" quat="0.667172 0.0822609 0.740348 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_4" pos="0.0885613 -0.00984015 0.00984015" quat="0.744904 0.0736768 0.663091 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_5" pos="0.082295 -0.00914389 0.0274317" quat="0.810705 0.0646527 0.581874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_6" pos="0.0729385 -0.00810428 0.0405214" quat="0.861211 0.0561266 0.505139 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_4_7" pos="0.0634441 -0.00704934 0.0493454" quat="0.897662 0.0486656 0.43799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_4_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_4_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_0" pos="0.0634441 0.00704934 -0.0493454" quat="0.440685 -0.0991301 0.892171 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_1" pos="0.0729385 0.00810428 -0.0405214" quat="0.508248 -0.0951048 0.855943 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_2" pos="0.082295 0.00914389 -0.0274317" quat="0.585455 -0.0895274 0.805747 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_3" pos="0.0885613 0.00984015 -0.00984015" quat="0.667172 -0.0822609 0.740348 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_4" pos="0.0885613 0.00984015 0.00984015" quat="0.744904 -0.0736768 0.663091 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_5" pos="0.082295 0.00914389 0.0274317" quat="0.810705 -0.0646527 0.581874 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_6" pos="0.0729385 0.00810428 0.0405214" quat="0.861211 -0.0561266 0.505139 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_5_7" pos="0.0634441 0.00704934 0.0493454" quat="0.897662 -0.0486656 0.43799 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_5_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_5_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_0" pos="0.0619422 0.0206474 -0.0481773" quat="0.450704 -0.282288 0.846865 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_1" pos="0.070682 0.0235607 -0.0392678" quat="0.516598 -0.270763 0.812289 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_2" pos="0.079094 0.0263647 -0.0263647" quat="0.590969 -0.255099 0.765297 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_3" pos="0.084608 0.0282027 -0.00940089" quat="0.669019 -0.235035 0.705105 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_4" pos="0.084608 0.0282027 0.00940089" quat="0.743246 -0.211562 0.634687 0">
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                                <joint name="breast_oneJ9_6_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_5" pos="0.079094 0.0263647 0.0263647" quat="0.806694 -0.186881 0.560642 0">
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                                <joint name="breast_oneJ9_6_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_5" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_6" pos="0.070682 0.0235607 0.0392678" quat="0.856228 -0.163363 0.490088 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_6_7" pos="0.0619422 0.0206474 0.0481773" quat="0.892674 -0.142525 0.427575 0">
                                <inertial pos="0 0 -0.065" mass="0.0812887" diaginertia="9.41594e-05 9.41594e-05 9.14498e-06" />
                                <joint name="breast_oneJ9_6_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_6_7" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_0" pos="0.0592331 0.0329073 -0.0460702" quat="0.467839 -0.429218 0.772592 0">
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                                <joint name="breast_oneJ9_7_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_7_0" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_1" pos="0.0667336 0.0370742 -0.0370742" quat="0.530635 -0.411631 0.740936 0">
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                                <joint name="breast_oneJ9_7_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_7_1" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_2" pos="0.0736737 0.0409298 -0.0245579" quat="0.600104 -0.388477 0.699258 0">
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                                <joint name="breast_oneJ9_7_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_7_2" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_3" pos="0.0780678 0.043371 -0.0086742" quat="0.672059 -0.359617 0.647311 0">
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                                <joint name="breast_oneJ9_7_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_7_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_4" pos="0.0780678 0.043371 0.0086742" quat="0.740498 -0.326381 0.587485 0">
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                                <joint name="breast_oneJ9_7_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_7_4" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
                            </body>
                            <body name="breast_oneB9_7_5" pos="0.0736737 0.0409298 0.0245579" quat="0.799922 -0.291436 0.524585 0">
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                                <joint name="breast_oneJ9_7_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                                <joint name="breast_oneJ9_7_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_8_0" pos="0.0557627 0.043371 -0.043371" quat="0.48826 -0.535785 0.688866 0">
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                            <body name="breast_oneB9_8_2" pos="0.0672953 0.0523408 -0.0224318" quat="0.61055 -0.486227 0.625149 0">
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                                <joint name="breast_oneJ9_8_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            </body>
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                                <joint name="breast_oneJ9_8_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_8_7" pos="0.0557627 0.043371 0.043371" quat="0.872698 -0.299763 0.385409 0">
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                                <joint name="breast_oneJ9_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            </body>
                            <body name="breast_oneB9_9_0" pos="0.0519615 0.0519615 -0.0404145" quat="0.50897 -0.608667 0.608667 0">
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                                <joint name="breast_oneJ9_9_0" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_9_1" pos="0.0568052 0.0568052 -0.0315584" quat="0.563189 -0.584302 0.584302 0">
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                                <joint name="breast_oneJ9_9_1" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_9_2" pos="0.0609044 0.0609044 -0.0203015" quat="0.620719 -0.554395 0.554395 0">
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                                <joint name="breast_oneJ9_9_2" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_9_3" pos="0.0633174 0.0633174 -0.00703526" quat="0.67885 -0.519212 0.519212 0">
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                                <joint name="breast_oneJ9_9_3" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_9_3" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
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                            <body name="breast_oneB9_9_4" pos="0.0633174 0.0633174 0.00703526" quat="0.734277 -0.480019 0.480019 0">
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                                <joint name="breast_oneJ9_9_4" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_9_5" pos="0.0609044 0.0609044 0.0203015" quat="0.784033 -0.438915 0.438915 0">
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                                <joint name="breast_oneJ9_9_5" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                            <body name="breast_oneB9_9_6" pos="0.0568052 0.0568052 0.0315584" quat="0.826328 -0.398235 0.398235 0">
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                                <joint name="breast_oneJ9_9_6" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
                                <geom name="breast_oneG9_9_6" size="0.015 0.05" pos="0 0 -0.065" type="capsule" contype="0" group="3" rgba="0.8 0.2 0.1 1" />
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                            <body name="breast_oneB9_9_7" pos="0.0519615 0.0519615 0.0404145" quat="0.860784 -0.359896 0.359896 0">
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                                <joint name="breast_oneJ9_9_7" pos="0 0 0" axis="0 0 1" type="slide" group="3" />
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                                    <joint name="wrist2_joint" class="aubo" pos="0 0 0" axis="0 0 1" group="1" limited="true" range="-3.05 3.05" />
                                    <geom name="wrist2_visual" type="mesh" contype="0" conaffinity="0" group="2" rgba="1 1 1 1" mesh="wrist2_Link" />
                                    <geom name="wrist2_collision" type="mesh" rgba="1 1 1 1" mesh="wrist2_Link" />
                                    <body name="wrist3_Link" pos="0 -0.094 0" quat="0.707105 0.707108 0 0">
                                        <inertial pos="1.77621e-07 0.00131226 -0.0206591" quat="0.504694 0.495254 -0.495271 0.504691" mass="0.297044" diaginertia="0.000198424 0.000139501 0.000127169" />
                                        <joint name="wrist3_joint" class="aubo" pos="0 0 0" axis="0 0 1" group="1" limited="true" range="-3.05 3.05" />
                                        <geom name="wrist3_visual" type="mesh" contype="0" conaffinity="0" group="2" rgba="1 1 1 1" mesh="wrist3_Link" />
                                        <geom name="wrist3_collision" type="mesh" rgba="1 1 1 1" mesh="wrist3_Link" />
                                        <body name="end_effector_mount" pos="0 0 0">
                                            <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                            <site name="ee_origin" pos="0 0 0" size="0.01" group="1" rgba="1 1 0 1" />
                                            <site name="ee_x" pos="0 0 0" quat="0.707105 0 0.707108 0" size="0.004 0.08" group="1" type="cylinder" rgba="1 0 0 1" />
                                            <site name="ee_y" pos="0 0 0" quat="0.707105 0.707108 0 0" size="0.004 0.08" group="1" type="cylinder" rgba="0 1 0 1" />
                                            <site name="ee_z" pos="0 0 0" quat="0.707105 0 0 0.707108" size="0.004 0.08" group="1" type="cylinder" rgba="0 0 1 1" />
                                            <camera name="eye_in_hand" pos="0.06 0 0" quat="0.383 -0.924 0 0" fovy="75" />
                                            <body name="scanner" pos="0 0 -0.006" quat="0 1 0 0">
                                                <inertial pos="-0.00782438 0.0437742 -0.0818393" quat="0.920279 0.336744 -0.0348357 -0.196156" mass="1.35059" diaginertia="0.00540083 0.00527864 0.000733398" />
                                                <geom name="geom_scanner_visual" type="mesh" contype="0" conaffinity="0" group="2" material="mat_scanner" mesh="mesh_scanner" />
                                                <geom name="geom_scanner_collision" type="mesh" mesh="mesh_scanner" />
                                                <site name="ft_sensor" pos="0 0 0" size="0.01" group="2" rgba="1 0 0 1" />
                                                <body name="scanner_probe" pos="0.0125 0.118 -0.167" quat="0.923785 0.382911 0 0">
                                                    <inertial pos="0 0 0" quat="0.707105 0.707108 0 0" mass="0.000728279" diaginertia="1.53478e-07 1.53478e-07 1.68323e-09" />
                                                    <geom name="scanner_probe_contact_capsule" size="0.00215 0.024" quat="0.707105 0.707108 0 0" type="capsule" condim="1" group="3" material="matmarble" />
                                                    <site name="touch_sensor" pos="0 0 0" quat="0.707105 0.707108 0 0" size="0.00215 0.024" group="2" type="capsule" rgba="0.3 0.9 0.3 0.3" />
                                                    <site name="scanner_probe_origin" pos="0 0 0" group="1" rgba="1 1 0 1" />
                                                    <site name="scanner_probe_x" pos="0 0 0" quat="0.707105 0 0.707108 0" size="0.002 0.05" group="1" type="cylinder" rgba="1 0 0 1" />
                                                    <site name="scanner_probe_y" pos="0 0 0" quat="0.707105 0.707108 0 0" size="0.002 0.05" group="1" type="cylinder" rgba="0 1 0 1" />
                                                    <site name="scanner_probe_z" pos="0 0 0" quat="0.707105 0 0 0.707108" size="0.002 0.05" group="1" type="cylinder" rgba="0 0 1 1" />
                                                    <site name="scanner_probe_contact_direction" pos="0 0 0" size="0.002 10" group="1" type="cylinder" rgba="0 1 0 0.1" />
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="manipulation_interactive_probe" pos="1 -0.5 0.1" quat="0.707105 0 0 0.707108" mocap="true">
            <inertial pos="0 0 0" mass="0.367566" diaginertia="0.000600358 0.000600358 0.000165405" />
            <geom size="0.03 0.05" type="capsule" condim="1" group="3" material="matmarble" />
        </body>
    </worldbody>
    <equality>
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        <joint joint1="breast_oneJ0_0_0" joint2="breast_oneJ1_0_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_0" joint2="breast_oneJ0_1_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_0" joint2="breast_oneJ0_0_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_1" joint2="breast_oneJ1_0_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_1" joint2="breast_oneJ0_1_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_1" joint2="breast_oneJ0_0_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_2" joint2="breast_oneJ1_0_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_2" joint2="breast_oneJ0_1_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_2" joint2="breast_oneJ0_0_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_3" joint2="breast_oneJ1_0_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_3" joint2="breast_oneJ0_1_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_3" joint2="breast_oneJ0_0_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_4" joint2="breast_oneJ1_0_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_4" joint2="breast_oneJ0_1_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_4" joint2="breast_oneJ0_0_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_5" joint2="breast_oneJ1_0_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_5" joint2="breast_oneJ0_1_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_5" joint2="breast_oneJ0_0_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_0_6" joint2="breast_oneJ0_1_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_6" joint2="breast_oneJ0_0_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_7" joint2="breast_oneJ1_0_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_0_7" joint2="breast_oneJ0_1_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_1_0" joint2="breast_oneJ0_2_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_1_0" joint2="breast_oneJ0_1_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_1_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_1_1" joint2="breast_oneJ0_2_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_1_1" joint2="breast_oneJ0_1_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_1_2" joint2="breast_oneJ0_2_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_1_2" joint2="breast_oneJ0_1_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_1_4" joint2="breast_oneJ0_1_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_1_5" joint2="breast_oneJ0_2_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_1_6" joint2="breast_oneJ0_1_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_3_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_3_5" joint2="breast_oneJ0_3_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_3_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ0_4_0" joint2="breast_oneJ0_5_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_4_0" joint2="breast_oneJ0_4_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_4_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_4_1" joint2="breast_oneJ0_5_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ0_4_1" joint2="breast_oneJ0_4_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
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        <joint joint1="breast_oneJ9_4_0" joint2="breast_oneJ9_4_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_1" joint2="breast_oneJ9_5_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_1" joint2="breast_oneJ9_4_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_2" joint2="breast_oneJ9_5_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_2" joint2="breast_oneJ9_4_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_3" joint2="breast_oneJ9_5_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_3" joint2="breast_oneJ9_4_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_4" joint2="breast_oneJ9_5_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_4" joint2="breast_oneJ9_4_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_5" joint2="breast_oneJ9_5_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_5" joint2="breast_oneJ9_4_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_6" joint2="breast_oneJ9_5_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_6" joint2="breast_oneJ9_4_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_4_7" joint2="breast_oneJ9_5_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_0" joint2="breast_oneJ9_6_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_0" joint2="breast_oneJ9_5_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_1" joint2="breast_oneJ9_6_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_1" joint2="breast_oneJ9_5_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_2" joint2="breast_oneJ9_6_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_2" joint2="breast_oneJ9_5_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_3" joint2="breast_oneJ9_6_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_3" joint2="breast_oneJ9_5_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_4" joint2="breast_oneJ9_6_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_4" joint2="breast_oneJ9_5_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_5" joint2="breast_oneJ9_6_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_5" joint2="breast_oneJ9_5_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_6" joint2="breast_oneJ9_6_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_6" joint2="breast_oneJ9_5_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_5_7" joint2="breast_oneJ9_6_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_0" joint2="breast_oneJ9_7_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_0" joint2="breast_oneJ9_6_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_1" joint2="breast_oneJ9_7_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_1" joint2="breast_oneJ9_6_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_2" joint2="breast_oneJ9_7_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_2" joint2="breast_oneJ9_6_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_3" joint2="breast_oneJ9_7_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_3" joint2="breast_oneJ9_6_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_4" joint2="breast_oneJ9_7_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_4" joint2="breast_oneJ9_6_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_5" joint2="breast_oneJ9_7_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_5" joint2="breast_oneJ9_6_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_6" joint2="breast_oneJ9_7_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_6" joint2="breast_oneJ9_6_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_6_7" joint2="breast_oneJ9_7_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_0" joint2="breast_oneJ9_8_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_0" joint2="breast_oneJ9_7_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_1" joint2="breast_oneJ9_8_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_1" joint2="breast_oneJ9_7_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_2" joint2="breast_oneJ9_8_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_2" joint2="breast_oneJ9_7_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_3" joint2="breast_oneJ9_8_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_3" joint2="breast_oneJ9_7_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_4" joint2="breast_oneJ9_8_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_4" joint2="breast_oneJ9_7_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_5" joint2="breast_oneJ9_8_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_5" joint2="breast_oneJ9_7_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_6" joint2="breast_oneJ9_8_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_6" joint2="breast_oneJ9_7_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_7_7" joint2="breast_oneJ9_8_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_0" joint2="breast_oneJ9_9_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_0" joint2="breast_oneJ9_8_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_1" joint2="breast_oneJ9_9_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_1" joint2="breast_oneJ9_8_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_2" joint2="breast_oneJ9_9_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_2" joint2="breast_oneJ9_8_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_3" joint2="breast_oneJ9_9_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_3" joint2="breast_oneJ9_8_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_4" joint2="breast_oneJ9_9_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_4" joint2="breast_oneJ9_8_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_5" joint2="breast_oneJ9_9_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_5" joint2="breast_oneJ9_8_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_6" joint2="breast_oneJ9_9_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_6" joint2="breast_oneJ9_8_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_8_7" joint2="breast_oneJ9_9_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_0" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_0" joint2="breast_oneJ9_9_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_1" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_1" joint2="breast_oneJ9_9_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_2" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_2" joint2="breast_oneJ9_9_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_3" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_3" joint2="breast_oneJ9_9_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_4" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_4" joint2="breast_oneJ9_9_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_5" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_5" joint2="breast_oneJ9_9_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_6" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_6" joint2="breast_oneJ9_9_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <joint joint1="breast_oneJ9_9_7" polycoef="0 1 0 0 0" solimp="0.9 0.9 0.001 0.5 2" />
        <tendon tendon1="breast_oneT" polycoef="0 1 0 0 0" solref="0.01 1" solimp="0.99 0.99 0.001 0.5 2" />
    </equality>
    <tendon>
        <fixed name="breast_oneT" group="3">
            <joint joint="breast_oneJ0_0_0" coef="1" />
            <joint joint="breast_oneJ0_0_1" coef="1" />
            <joint joint="breast_oneJ0_0_2" coef="1" />
            <joint joint="breast_oneJ0_0_3" coef="1" />
            <joint joint="breast_oneJ0_0_4" coef="1" />
            <joint joint="breast_oneJ0_0_5" coef="1" />
            <joint joint="breast_oneJ0_0_6" coef="1" />
            <joint joint="breast_oneJ0_0_7" coef="1" />
            <joint joint="breast_oneJ0_1_0" coef="1" />
            <joint joint="breast_oneJ0_1_1" coef="1" />
            <joint joint="breast_oneJ0_1_2" coef="1" />
            <joint joint="breast_oneJ0_1_3" coef="1" />
            <joint joint="breast_oneJ0_1_4" coef="1" />
            <joint joint="breast_oneJ0_1_5" coef="1" />
            <joint joint="breast_oneJ0_1_6" coef="1" />
            <joint joint="breast_oneJ0_1_7" coef="1" />
            <joint joint="breast_oneJ0_2_0" coef="1" />
            <joint joint="breast_oneJ0_2_1" coef="1" />
            <joint joint="breast_oneJ0_2_2" coef="1" />
            <joint joint="breast_oneJ0_2_3" coef="1" />
            <joint joint="breast_oneJ0_2_4" coef="1" />
            <joint joint="breast_oneJ0_2_5" coef="1" />
            <joint joint="breast_oneJ0_2_6" coef="1" />
            <joint joint="breast_oneJ0_2_7" coef="1" />
            <joint joint="breast_oneJ0_3_0" coef="1" />
            <joint joint="breast_oneJ0_3_1" coef="1" />
            <joint joint="breast_oneJ0_3_2" coef="1" />
            <joint joint="breast_oneJ0_3_3" coef="1" />
            <joint joint="breast_oneJ0_3_4" coef="1" />
            <joint joint="breast_oneJ0_3_5" coef="1" />
            <joint joint="breast_oneJ0_3_6" coef="1" />
            <joint joint="breast_oneJ0_3_7" coef="1" />
            <joint joint="breast_oneJ0_4_0" coef="1" />
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            <joint joint="breast_oneJ9_4_4" coef="1" />
            <joint joint="breast_oneJ9_4_5" coef="1" />
            <joint joint="breast_oneJ9_4_6" coef="1" />
            <joint joint="breast_oneJ9_4_7" coef="1" />
            <joint joint="breast_oneJ9_5_0" coef="1" />
            <joint joint="breast_oneJ9_5_1" coef="1" />
            <joint joint="breast_oneJ9_5_2" coef="1" />
            <joint joint="breast_oneJ9_5_3" coef="1" />
            <joint joint="breast_oneJ9_5_4" coef="1" />
            <joint joint="breast_oneJ9_5_5" coef="1" />
            <joint joint="breast_oneJ9_5_6" coef="1" />
            <joint joint="breast_oneJ9_5_7" coef="1" />
            <joint joint="breast_oneJ9_6_0" coef="1" />
            <joint joint="breast_oneJ9_6_1" coef="1" />
            <joint joint="breast_oneJ9_6_2" coef="1" />
            <joint joint="breast_oneJ9_6_3" coef="1" />
            <joint joint="breast_oneJ9_6_4" coef="1" />
            <joint joint="breast_oneJ9_6_5" coef="1" />
            <joint joint="breast_oneJ9_6_6" coef="1" />
            <joint joint="breast_oneJ9_6_7" coef="1" />
            <joint joint="breast_oneJ9_7_0" coef="1" />
            <joint joint="breast_oneJ9_7_1" coef="1" />
            <joint joint="breast_oneJ9_7_2" coef="1" />
            <joint joint="breast_oneJ9_7_3" coef="1" />
            <joint joint="breast_oneJ9_7_4" coef="1" />
            <joint joint="breast_oneJ9_7_5" coef="1" />
            <joint joint="breast_oneJ9_7_6" coef="1" />
            <joint joint="breast_oneJ9_7_7" coef="1" />
            <joint joint="breast_oneJ9_8_0" coef="1" />
            <joint joint="breast_oneJ9_8_1" coef="1" />
            <joint joint="breast_oneJ9_8_2" coef="1" />
            <joint joint="breast_oneJ9_8_3" coef="1" />
            <joint joint="breast_oneJ9_8_4" coef="1" />
            <joint joint="breast_oneJ9_8_5" coef="1" />
            <joint joint="breast_oneJ9_8_6" coef="1" />
            <joint joint="breast_oneJ9_8_7" coef="1" />
            <joint joint="breast_oneJ9_9_0" coef="1" />
            <joint joint="breast_oneJ9_9_1" coef="1" />
            <joint joint="breast_oneJ9_9_2" coef="1" />
            <joint joint="breast_oneJ9_9_3" coef="1" />
            <joint joint="breast_oneJ9_9_4" coef="1" />
            <joint joint="breast_oneJ9_9_5" coef="1" />
            <joint joint="breast_oneJ9_9_6" coef="1" />
            <joint joint="breast_oneJ9_9_7" coef="1" />
        </fixed>
    </tendon>
    <actuator>
        <general name="torq_shoulder" joint="shoulder_joint" ctrllimited="true" ctrlrange="-150 150" />
        <general name="torq_upperArm" joint="upperArm_joint" ctrllimited="true" ctrlrange="-150 150" />
        <general name="torq_foreArm" joint="foreArm_joint" ctrllimited="true" ctrlrange="-150 150" />
        <general name="torq_wrist1" joint="wrist1_joint" ctrllimited="true" ctrlrange="-28 28" />
        <general name="torq_wrist2" joint="wrist2_joint" ctrllimited="true" ctrlrange="-28 28" />
        <general name="torq_wrist3" joint="wrist3_joint" ctrllimited="true" ctrlrange="-28 28" />
    </actuator>
    <sensor>
        <force site="ft_sensor" name="force_ee" />
        <torque site="ft_sensor" name="torque_ee" />
        <touch site="touch_sensor" name="touch_probe" />
        <framepos objtype="site" objname="ft_sensor" name="framepos_ee" />
        <framequat objtype="site" objname="ft_sensor" name="framequat_ee" />
        <framepos objtype="site" objname="touch_sensor" name="framepos_probe" />
        <framequat objtype="site" objname="touch_sensor" name="framequat_probe" />
    </sensor>
</mujoco>
