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			<inertia>
				<rod>
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					<fromPoint idref="A0"/>
					<toPoint idref="B0"/>
				</rod>
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			<xi:include xpointer="xpointer(/mbsml/model/body[@id='rod1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
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			<xi:include xpointer="xpointer(/mbsml/model/body[@id='rod1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
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			<xi:include xpointer="xpointer(/mbsml/model/body[@id='rod1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
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			<xi:include xpointer="xpointer(/mbsml/model/body[@id='rod1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
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			<xi:include xpointer="xpointer(/mbsml/model/body[@id='rod1'])" xmlns:xi="http://www.w3.org/2003/XInclude"/>
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		<joint.revolute	id="Ground_to_rod1">
			<body idref="ground">
				<axisPoint idref="A0"/>
				<axisDir idref="z"/>
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		<joint.revolute id="rod1_to_rod2">
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				<axisPoint idref="B"/>
				<axisDir idref="z"/>
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			<body idref="rod2">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
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		<joint.revolute	id="rod2_to_rod3">
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				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod3">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod3_to_ground">
			<body idref="rod3">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod3_to_rod4">
			<body idref="rod3">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod4">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod4_to_rod5">
			<body idref="rod4">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod5">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod5_to_ground">
			<body idref="rod5">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod5_to_rod6">
			<body idref="rod5">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod6">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod6_to_rod7">
			<body idref="rod6">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod7">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod7_to_ground">
			<body idref="rod7">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod7_to_rod8">
			<body idref="rod7">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod8">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod8_to_rod9">
			<body idref="rod8">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod9">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod9_to_ground">
			<body idref="rod9">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod9_to_rod10">
			<body idref="rod9">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod10">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod10_to_rod11">
			<body idref="rod10">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod11">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod11_to_ground">
			<body idref="rod11">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod11_to_rod12">
			<body idref="rod11">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod12">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod12_to_rod13">
			<body idref="rod12">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod13">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod13_to_ground">
			<body idref="rod13">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod13_to_rod14">
			<body idref="rod13">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod14">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod14_to_rod15">
			<body idref="rod14">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod15">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod15_to_ground">
			<body idref="rod15">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod15_to_rod16">
			<body idref="rod15">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod16">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod16_to_rod17">
			<body idref="rod16">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod17">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod17_to_ground">
			<body idref="rod17">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod17_to_rod18">
			<body idref="rod17">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod18">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod18_to_rod19">
			<body idref="rod18">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod19">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod19_to_ground">
			<body idref="rod19">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod19_to_rod20">
			<body idref="rod19">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod20">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod20_to_rod21">
			<body idref="rod20">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod21">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod21_to_ground">
			<body idref="rod21">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod21_to_rod22">
			<body idref="rod21">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod22">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod22_to_rod23">
			<body idref="rod22">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod23">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod23_to_ground">
			<body idref="rod23">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod23_to_rod24">
			<body idref="rod23">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod24">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod24_to_rod25">
			<body idref="rod24">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod25">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod25_to_ground">
			<body idref="rod25">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod25_to_rod26">
			<body idref="rod25">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod26">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod26_to_rod27">
			<body idref="rod26">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod27">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod27_to_ground">
			<body idref="rod27">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod27_to_rod28">
			<body idref="rod27">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod28">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod28_to_rod29">
			<body idref="rod28">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod29">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod29_to_ground">
			<body idref="rod29">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod29_to_rod30">
			<body idref="rod29">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod30">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod30_to_rod31">
			<body idref="rod30">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod31">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod31_to_ground">
			<body idref="rod31">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod31_to_rod32">
			<body idref="rod31">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod32">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod32_to_rod33">
			<body idref="rod32">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod33">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod33_to_ground">
			<body idref="rod33">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod33_to_rod34">
			<body idref="rod33">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod34">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod34_to_rod35">
			<body idref="rod34">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod35">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod35_to_ground">
			<body idref="rod35">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod35_to_rod36">
			<body idref="rod35">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod36">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod36_to_rod37">
			<body idref="rod36">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod37">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod37_to_ground">
			<body idref="rod37">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod37_to_rod38">
			<body idref="rod37">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod38">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod38_to_rod39">
			<body idref="rod38">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod39">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod39_to_ground">
			<body idref="rod39">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod39_to_rod40">
			<body idref="rod39">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod40">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod40_to_rod41">
			<body idref="rod40">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod41">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod41_to_ground">
			<body idref="rod41">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod41_to_rod42">
			<body idref="rod41">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod42">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod42_to_rod43">
			<body idref="rod42">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod43">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod43_to_ground">
			<body idref="rod43">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod43_to_rod44">
			<body idref="rod43">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod44">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod44_to_rod45">
			<body idref="rod44">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod45">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod45_to_ground">
			<body idref="rod45">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod45_to_rod46">
			<body idref="rod45">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod46">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod46_to_rod47">
			<body idref="rod46">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod47">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod47_to_ground">
			<body idref="rod47">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod47_to_rod48">
			<body idref="rod47">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod48">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod48_to_rod49">
			<body idref="rod48">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod49">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod49_to_ground">
			<body idref="rod49">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod49_to_rod50">
			<body idref="rod49">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod50">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod50_to_rod51">
			<body idref="rod50">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod51">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod51_to_ground">
			<body idref="rod51">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod51_to_rod52">
			<body idref="rod51">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod52">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod52_to_rod53">
			<body idref="rod52">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod53">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod53_to_ground">
			<body idref="rod53">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod53_to_rod54">
			<body idref="rod53">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod54">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod54_to_rod55">
			<body idref="rod54">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod55">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod55_to_ground">
			<body idref="rod55">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod55_to_rod56">
			<body idref="rod55">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod56">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod56_to_rod57">
			<body idref="rod56">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod57">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod57_to_ground">
			<body idref="rod57">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod57_to_rod58">
			<body idref="rod57">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod58">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod58_to_rod59">
			<body idref="rod58">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod59">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod59_to_ground">
			<body idref="rod59">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod59_to_rod60">
			<body idref="rod59">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod60">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod60_to_rod61">
			<body idref="rod60">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod61">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod61_to_ground">
			<body idref="rod61">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod61_to_rod62">
			<body idref="rod61">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod62">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod62_to_rod63">
			<body idref="rod62">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod63">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod63_to_ground">
			<body idref="rod63">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod63_to_rod64">
			<body idref="rod63">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod64">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod64_to_rod65">
			<body idref="rod64">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod65">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod65_to_ground">
			<body idref="rod65">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod65_to_rod66">
			<body idref="rod65">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod66">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod66_to_rod67">
			<body idref="rod66">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod67">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod67_to_ground">
			<body idref="rod67">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod67_to_rod68">
			<body idref="rod67">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod68">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod68_to_rod69">
			<body idref="rod68">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod69">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod69_to_ground">
			<body idref="rod69">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod69_to_rod70">
			<body idref="rod69">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod70">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod70_to_rod71">
			<body idref="rod70">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod71">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod71_to_ground">
			<body idref="rod71">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod71_to_rod72">
			<body idref="rod71">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod72">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod72_to_rod73">
			<body idref="rod72">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod73">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod73_to_ground">
			<body idref="rod73">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod73_to_rod74">
			<body idref="rod73">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod74">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod74_to_rod75">
			<body idref="rod74">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod75">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod75_to_ground">
			<body idref="rod75">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod75_to_rod76">
			<body idref="rod75">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod76">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod76_to_rod77">
			<body idref="rod76">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod77">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod77_to_ground">
			<body idref="rod77">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod77_to_rod78">
			<body idref="rod77">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod78">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod78_to_rod79">
			<body idref="rod78">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod79">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod79_to_ground">
			<body idref="rod79">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute id="rod79_to_rod80">
			<body idref="rod79">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod80">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod80_to_rod81">
			<body idref="rod80">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
			<body idref="rod81">
				<axisPoint idref="B"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>
		<joint.revolute	id="rod81_to_ground">
			<body idref="rod81">
				<axisPoint idref="A"/>
				<axisDir idref="z"/>
			</body>
			<body idref="ground">
				<axisPoint idref="A2"/>
				<axisDir idref="z"/>
			</body>
		</joint.revolute>		


		
		<load.gravity>
			<direction  bodyRef="ground" id="g">
				<x>0.0</x>
				<y>-1.0</y>
				<z>0.0</z>
			</direction>
			<magnitude uom="m/s2">9.81</magnitude>  
		</load.gravity>
	</model>
	<task>
		<analysis>
		</analysis>
	</task>
</job>
