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            <centerPoint idref="p44"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_12">
         <body idref="Driving_disk">
            <centerPoint idref="p48"/>
         </body>
         <body idref="Driving_strut_12">
            <centerPoint idref="p48"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_13">
         <body idref="Driving_disk">
            <centerPoint idref="p52"/>
         </body>
         <body idref="Driving_strut_13">
            <centerPoint idref="p52"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_14">
         <body idref="Driving_disk">
            <centerPoint idref="p56"/>
         </body>
         <body idref="Driving_strut_14">
            <centerPoint idref="p56"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_15">
         <body idref="Driving_disk">
            <centerPoint idref="p60"/>
         </body>
         <body idref="Driving_strut_15">
            <centerPoint idref="p60"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_16">
         <body idref="Driving_disk">
            <centerPoint idref="p64"/>
         </body>
         <body idref="Driving_strut_16">
            <centerPoint idref="p64"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_17">
         <body idref="Driving_disk">
            <centerPoint idref="p68"/>
         </body>
         <body idref="Driving_strut_17">
            <centerPoint idref="p68"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_18">
         <body idref="Driving_disk">
            <centerPoint idref="p72"/>
         </body>
         <body idref="Driving_strut_18">
            <centerPoint idref="p72"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_19">
         <body idref="Driving_disk">
            <centerPoint idref="p76"/>
         </body>
         <body idref="Driving_strut_19">
            <centerPoint idref="p76"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_20">
         <body idref="Driving_disk">
            <centerPoint idref="p80"/>
         </body>
         <body idref="Driving_strut_20">
            <centerPoint idref="p80"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_21">
         <body idref="Driving_disk">
            <centerPoint idref="p84"/>
         </body>
         <body idref="Driving_strut_21">
            <centerPoint idref="p84"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_22">
         <body idref="Driving_disk">
            <centerPoint idref="p88"/>
         </body>
         <body idref="Driving_strut_22">
            <centerPoint idref="p88"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_23">
         <body idref="Driving_disk">
            <centerPoint idref="p92"/>
         </body>
         <body idref="Driving_strut_23">
            <centerPoint idref="p92"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_disk_driving_strut_24">
         <body idref="Driving_disk">
            <centerPoint idref="p96"/>
         </body>
         <body idref="Driving_strut_24">
            <centerPoint idref="p96"/>
         </body>
      </joint.spherical>
      <joint.revolute id="R_central_body_leverbar_1">
         <body idref="Central_body">
            <axisPoint idref="p3"/>
            <axisDir idref="v2"/>
         </body>
         <body idref="Leverbar_1">
            <axisPoint idref="p3"/>
            <axisDir idref="v2"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_2">
         <body idref="Central_body">
            <axisPoint idref="p7"/>
            <axisDir idref="v3"/>
         </body>
         <body idref="Leverbar_2">
            <axisPoint idref="p7"/>
            <axisDir idref="v3"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_3">
         <body idref="Central_body">
            <axisPoint idref="p11"/>
            <axisDir idref="v4"/>
         </body>
         <body idref="Leverbar_3">
            <axisPoint idref="p11"/>
            <axisDir idref="v4"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_4">
         <body idref="Central_body">
            <axisPoint idref="p15"/>
            <axisDir idref="v5"/>
         </body>
         <body idref="Leverbar_4">
            <axisPoint idref="p15"/>
            <axisDir idref="v5"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_5">
         <body idref="Central_body">
            <axisPoint idref="p19"/>
            <axisDir idref="v6"/>
         </body>
         <body idref="Leverbar_5">
            <axisPoint idref="p19"/>
            <axisDir idref="v6"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_6">
         <body idref="Central_body">
            <axisPoint idref="p23"/>
            <axisDir idref="v7"/>
         </body>
         <body idref="Leverbar_6">
            <axisPoint idref="p23"/>
            <axisDir idref="v7"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_7">
         <body idref="Central_body">
            <axisPoint idref="p27"/>
            <axisDir idref="v8"/>
         </body>
         <body idref="Leverbar_7">
            <axisPoint idref="p27"/>
            <axisDir idref="v8"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_8">
         <body idref="Central_body">
            <axisPoint idref="p31"/>
            <axisDir idref="v9"/>
         </body>
         <body idref="Leverbar_8">
            <axisPoint idref="p31"/>
            <axisDir idref="v9"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_9">
         <body idref="Central_body">
            <axisPoint idref="p35"/>
            <axisDir idref="v10"/>
         </body>
         <body idref="Leverbar_9">
            <axisPoint idref="p35"/>
            <axisDir idref="v10"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_10">
         <body idref="Central_body">
            <axisPoint idref="p39"/>
            <axisDir idref="v11"/>
         </body>
         <body idref="Leverbar_10">
            <axisPoint idref="p39"/>
            <axisDir idref="v11"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_11">
         <body idref="Central_body">
            <axisPoint idref="p43"/>
            <axisDir idref="v12"/>
         </body>
         <body idref="Leverbar_11">
            <axisPoint idref="p43"/>
            <axisDir idref="v12"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_12">
         <body idref="Central_body">
            <axisPoint idref="p47"/>
            <axisDir idref="v13"/>
         </body>
         <body idref="Leverbar_12">
            <axisPoint idref="p47"/>
            <axisDir idref="v13"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_13">
         <body idref="Central_body">
            <axisPoint idref="p51"/>
            <axisDir idref="v14"/>
         </body>
         <body idref="Leverbar_13">
            <axisPoint idref="p51"/>
            <axisDir idref="v14"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_14">
         <body idref="Central_body">
            <axisPoint idref="p55"/>
            <axisDir idref="v15"/>
         </body>
         <body idref="Leverbar_14">
            <axisPoint idref="p55"/>
            <axisDir idref="v15"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_15">
         <body idref="Central_body">
            <axisPoint idref="p59"/>
            <axisDir idref="v16"/>
         </body>
         <body idref="Leverbar_15">
            <axisPoint idref="p59"/>
            <axisDir idref="v16"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_16">
         <body idref="Central_body">
            <axisPoint idref="p63"/>
            <axisDir idref="v17"/>
         </body>
         <body idref="Leverbar_16">
            <axisPoint idref="p63"/>
            <axisDir idref="v17"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_17">
         <body idref="Central_body">
            <axisPoint idref="p67"/>
            <axisDir idref="v18"/>
         </body>
         <body idref="Leverbar_17">
            <axisPoint idref="p67"/>
            <axisDir idref="v18"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_18">
         <body idref="Central_body">
            <axisPoint idref="p71"/>
            <axisDir idref="v19"/>
         </body>
         <body idref="Leverbar_18">
            <axisPoint idref="p71"/>
            <axisDir idref="v19"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_19">
         <body idref="Central_body">
            <axisPoint idref="p75"/>
            <axisDir idref="v20"/>
         </body>
         <body idref="Leverbar_19">
            <axisPoint idref="p75"/>
            <axisDir idref="v20"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_20">
         <body idref="Central_body">
            <axisPoint idref="p79"/>
            <axisDir idref="v21"/>
         </body>
         <body idref="Leverbar_20">
            <axisPoint idref="p79"/>
            <axisDir idref="v21"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_21">
         <body idref="Central_body">
            <axisPoint idref="p83"/>
            <axisDir idref="v22"/>
         </body>
         <body idref="Leverbar_21">
            <axisPoint idref="p83"/>
            <axisDir idref="v22"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_22">
         <body idref="Central_body">
            <axisPoint idref="p87"/>
            <axisDir idref="v23"/>
         </body>
         <body idref="Leverbar_22">
            <axisPoint idref="p87"/>
            <axisDir idref="v23"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_23">
         <body idref="Central_body">
            <axisPoint idref="p91"/>
            <axisDir idref="v24"/>
         </body>
         <body idref="Leverbar_23">
            <axisPoint idref="p91"/>
            <axisDir idref="v24"/>
         </body>
      </joint.revolute>
      <joint.revolute id="R_central_body_leverbar_24">
         <body idref="Central_body">
            <axisPoint idref="p95"/>
            <axisDir idref="v25"/>
         </body>
         <body idref="Leverbar_24">
            <axisPoint idref="p95"/>
            <axisDir idref="v25"/>
         </body>
      </joint.revolute>
      <joint.spherical id="S_driving_strut_1___leverbar_1">
         <body idref="Driving_strut_1">
            <centerPoint idref="p5"/>
         </body>
         <body idref="Leverbar_1">
            <centerPoint idref="p5"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_2___leverbar_2">
         <body idref="Driving_strut_2">
            <centerPoint idref="p9"/>
         </body>
         <body idref="Leverbar_2">
            <centerPoint idref="p9"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_3___leverbar_3">
         <body idref="Driving_strut_3">
            <centerPoint idref="p13"/>
         </body>
         <body idref="Leverbar_3">
            <centerPoint idref="p13"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_4___leverbar_4">
         <body idref="Driving_strut_4">
            <centerPoint idref="p17"/>
         </body>
         <body idref="Leverbar_4">
            <centerPoint idref="p17"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_5___leverbar_5">
         <body idref="Driving_strut_5">
            <centerPoint idref="p21"/>
         </body>
         <body idref="Leverbar_5">
            <centerPoint idref="p21"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_6___leverbar_6">
         <body idref="Driving_strut_6">
            <centerPoint idref="p25"/>
         </body>
         <body idref="Leverbar_6">
            <centerPoint idref="p25"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_7___leverbar_7">
         <body idref="Driving_strut_7">
            <centerPoint idref="p29"/>
         </body>
         <body idref="Leverbar_7">
            <centerPoint idref="p29"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_8___leverbar_8">
         <body idref="Driving_strut_8">
            <centerPoint idref="p33"/>
         </body>
         <body idref="Leverbar_8">
            <centerPoint idref="p33"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_9___leverbar_9">
         <body idref="Driving_strut_9">
            <centerPoint idref="p37"/>
         </body>
         <body idref="Leverbar_9">
            <centerPoint idref="p37"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_10___leverbar_10">
         <body idref="Driving_strut_10">
            <centerPoint idref="p41"/>
         </body>
         <body idref="Leverbar_10">
            <centerPoint idref="p41"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_11___leverbar_11">
         <body idref="Driving_strut_11">
            <centerPoint idref="p45"/>
         </body>
         <body idref="Leverbar_11">
            <centerPoint idref="p45"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_12___leverbar_12">
         <body idref="Driving_strut_12">
            <centerPoint idref="p49"/>
         </body>
         <body idref="Leverbar_12">
            <centerPoint idref="p49"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_13___leverbar_13">
         <body idref="Driving_strut_13">
            <centerPoint idref="p53"/>
         </body>
         <body idref="Leverbar_13">
            <centerPoint idref="p53"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_14___leverbar_14">
         <body idref="Driving_strut_14">
            <centerPoint idref="p57"/>
         </body>
         <body idref="Leverbar_14">
            <centerPoint idref="p57"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_15___leverbar_15">
         <body idref="Driving_strut_15">
            <centerPoint idref="p61"/>
         </body>
         <body idref="Leverbar_15">
            <centerPoint idref="p61"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_16___leverbar_16">
         <body idref="Driving_strut_16">
            <centerPoint idref="p65"/>
         </body>
         <body idref="Leverbar_16">
            <centerPoint idref="p65"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_17___leverbar_17">
         <body idref="Driving_strut_17">
            <centerPoint idref="p69"/>
         </body>
         <body idref="Leverbar_17">
            <centerPoint idref="p69"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_18___leverbar_18">
         <body idref="Driving_strut_18">
            <centerPoint idref="p73"/>
         </body>
         <body idref="Leverbar_18">
            <centerPoint idref="p73"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_19___leverbar_19">
         <body idref="Driving_strut_19">
            <centerPoint idref="p77"/>
         </body>
         <body idref="Leverbar_19">
            <centerPoint idref="p77"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_20___leverbar_20">
         <body idref="Driving_strut_20">
            <centerPoint idref="p81"/>
         </body>
         <body idref="Leverbar_20">
            <centerPoint idref="p81"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_21___leverbar_21">
         <body idref="Driving_strut_21">
            <centerPoint idref="p85"/>
         </body>
         <body idref="Leverbar_21">
            <centerPoint idref="p85"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_22___leverbar_22">
         <body idref="Driving_strut_22">
            <centerPoint idref="p89"/>
         </body>
         <body idref="Leverbar_22">
            <centerPoint idref="p89"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_23___leverbar_23">
         <body idref="Driving_strut_23">
            <centerPoint idref="p93"/>
         </body>
         <body idref="Leverbar_23">
            <centerPoint idref="p93"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_driving_strut_24___leverbar_24">
         <body idref="Driving_strut_24">
            <centerPoint idref="p97"/>
         </body>
         <body idref="Leverbar_24">
            <centerPoint idref="p97"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_1___coupling_strut_1">
         <body idref="Panel_1">
            <centerPoint idref="p99"/>
         </body>
         <body idref="Coupling_strut_1">
            <centerPoint idref="p99"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_2___coupling_strut_2">
         <body idref="Panel_2">
            <centerPoint idref="p101"/>
         </body>
         <body idref="Coupling_strut_2">
            <centerPoint idref="p101"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_3___coupling_strut_3">
         <body idref="Panel_3">
            <centerPoint idref="p103"/>
         </body>
         <body idref="Coupling_strut_3">
            <centerPoint idref="p103"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_4___coupling_strut_4">
         <body idref="Panel_4">
            <centerPoint idref="p105"/>
         </body>
         <body idref="Coupling_strut_4">
            <centerPoint idref="p105"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_5___coupling_strut_5">
         <body idref="Panel_5">
            <centerPoint idref="p107"/>
         </body>
         <body idref="Coupling_strut_5">
            <centerPoint idref="p107"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_6___coupling_strut_6">
         <body idref="Panel_6">
            <centerPoint idref="p109"/>
         </body>
         <body idref="Coupling_strut_6">
            <centerPoint idref="p109"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_7___coupling_strut_7">
         <body idref="Panel_7">
            <centerPoint idref="p111"/>
         </body>
         <body idref="Coupling_strut_7">
            <centerPoint idref="p111"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_8___coupling_strut_8">
         <body idref="Panel_8">
            <centerPoint idref="p113"/>
         </body>
         <body idref="Coupling_strut_8">
            <centerPoint idref="p113"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_9___coupling_strut_9">
         <body idref="Panel_9">
            <centerPoint idref="p115"/>
         </body>
         <body idref="Coupling_strut_9">
            <centerPoint idref="p115"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_10___coupling_strut_10">
         <body idref="Panel_10">
            <centerPoint idref="p117"/>
         </body>
         <body idref="Coupling_strut_10">
            <centerPoint idref="p117"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_11___coupling_strut_11">
         <body idref="Panel_11">
            <centerPoint idref="p119"/>
         </body>
         <body idref="Coupling_strut_11">
            <centerPoint idref="p119"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_12___coupling_strut_12">
         <body idref="Panel_12">
            <centerPoint idref="p121"/>
         </body>
         <body idref="Coupling_strut_12">
            <centerPoint idref="p121"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_13___coupling_strut_13">
         <body idref="Panel_13">
            <centerPoint idref="p123"/>
         </body>
         <body idref="Coupling_strut_13">
            <centerPoint idref="p123"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_14___coupling_strut_14">
         <body idref="Panel_14">
            <centerPoint idref="p125"/>
         </body>
         <body idref="Coupling_strut_14">
            <centerPoint idref="p125"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_15___coupling_strut_15">
         <body idref="Panel_15">
            <centerPoint idref="p127"/>
         </body>
         <body idref="Coupling_strut_15">
            <centerPoint idref="p127"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_16___coupling_strut_16">
         <body idref="Panel_16">
            <centerPoint idref="p129"/>
         </body>
         <body idref="Coupling_strut_16">
            <centerPoint idref="p129"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_17___coupling_strut_17">
         <body idref="Panel_17">
            <centerPoint idref="p131"/>
         </body>
         <body idref="Coupling_strut_17">
            <centerPoint idref="p131"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_18___coupling_strut_18">
         <body idref="Panel_18">
            <centerPoint idref="p133"/>
         </body>
         <body idref="Coupling_strut_18">
            <centerPoint idref="p133"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_19___coupling_strut_19">
         <body idref="Panel_19">
            <centerPoint idref="p135"/>
         </body>
         <body idref="Coupling_strut_19">
            <centerPoint idref="p135"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_20___coupling_strut_20">
         <body idref="Panel_20">
            <centerPoint idref="p137"/>
         </body>
         <body idref="Coupling_strut_20">
            <centerPoint idref="p137"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_21___coupling_strut_21">
         <body idref="Panel_21">
            <centerPoint idref="p139"/>
         </body>
         <body idref="Coupling_strut_21">
            <centerPoint idref="p139"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_22___coupling_strut_22">
         <body idref="Panel_22">
            <centerPoint idref="p141"/>
         </body>
         <body idref="Coupling_strut_22">
            <centerPoint idref="p141"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_23___coupling_strut_23">
         <body idref="Panel_23">
            <centerPoint idref="p143"/>
         </body>
         <body idref="Coupling_strut_23">
            <centerPoint idref="p143"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_24___coupling_strut_24">
         <body idref="Panel_24">
            <centerPoint idref="p145"/>
         </body>
         <body idref="Coupling_strut_24">
            <centerPoint idref="p145"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_1___coupling_strut_24">
         <body idref="Panel_1">
            <centerPoint idref="p146"/>
         </body>
         <body idref="Coupling_strut_24">
            <centerPoint idref="p146"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_2___coupling_strut_1">
         <body idref="Panel_2">
            <centerPoint idref="p100"/>
         </body>
         <body idref="Coupling_strut_1">
            <centerPoint idref="p100"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_3___coupling_strut_2">
         <body idref="Panel_3">
            <centerPoint idref="p102"/>
         </body>
         <body idref="Coupling_strut_2">
            <centerPoint idref="p102"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_4___coupling_strut_3">
         <body idref="Panel_4">
            <centerPoint idref="p104"/>
         </body>
         <body idref="Coupling_strut_3">
            <centerPoint idref="p104"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_5___coupling_strut_4">
         <body idref="Panel_5">
            <centerPoint idref="p106"/>
         </body>
         <body idref="Coupling_strut_4">
            <centerPoint idref="p106"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_6___coupling_strut_5">
         <body idref="Panel_6">
            <centerPoint idref="p108"/>
         </body>
         <body idref="Coupling_strut_5">
            <centerPoint idref="p108"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_7___coupling_strut_6">
         <body idref="Panel_7">
            <centerPoint idref="p110"/>
         </body>
         <body idref="Coupling_strut_6">
            <centerPoint idref="p110"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_8___coupling_strut_7">
         <body idref="Panel_8">
            <centerPoint idref="p112"/>
         </body>
         <body idref="Coupling_strut_7">
            <centerPoint idref="p112"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_9___coupling_strut_8">
         <body idref="Panel_9">
            <centerPoint idref="p114"/>
         </body>
         <body idref="Coupling_strut_8">
            <centerPoint idref="p114"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_10___coupling_strut_9">
         <body idref="Panel_10">
            <centerPoint idref="p116"/>
         </body>
         <body idref="Coupling_strut_9">
            <centerPoint idref="p116"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_11___coupling_strut_10">
         <body idref="Panel_11">
            <centerPoint idref="p118"/>
         </body>
         <body idref="Coupling_strut_10">
            <centerPoint idref="p118"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_12___coupling_strut_11">
         <body idref="Panel_12">
            <centerPoint idref="p120"/>
         </body>
         <body idref="Coupling_strut_11">
            <centerPoint idref="p120"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_13___coupling_strut_12">
         <body idref="Panel_13">
            <centerPoint idref="p122"/>
         </body>
         <body idref="Coupling_strut_12">
            <centerPoint idref="p122"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_14___coupling_strut_13">
         <body idref="Panel_14">
            <centerPoint idref="p124"/>
         </body>
         <body idref="Coupling_strut_13">
            <centerPoint idref="p124"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_15___coupling_strut_14">
         <body idref="Panel_15">
            <centerPoint idref="p126"/>
         </body>
         <body idref="Coupling_strut_14">
            <centerPoint idref="p126"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_16___coupling_strut_15">
         <body idref="Panel_16">
            <centerPoint idref="p128"/>
         </body>
         <body idref="Coupling_strut_15">
            <centerPoint idref="p128"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_17___coupling_strut_16">
         <body idref="Panel_17">
            <centerPoint idref="p130"/>
         </body>
         <body idref="Coupling_strut_16">
            <centerPoint idref="p130"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_18___coupling_strut_17">
         <body idref="Panel_18">
            <centerPoint idref="p132"/>
         </body>
         <body idref="Coupling_strut_17">
            <centerPoint idref="p132"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_19___coupling_strut_18">
         <body idref="Panel_19">
            <centerPoint idref="p134"/>
         </body>
         <body idref="Coupling_strut_18">
            <centerPoint idref="p134"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_20___coupling_strut_19">
         <body idref="Panel_20">
            <centerPoint idref="p136"/>
         </body>
         <body idref="Coupling_strut_19">
            <centerPoint idref="p136"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_21___coupling_strut_20">
         <body idref="Panel_21">
            <centerPoint idref="p138"/>
         </body>
         <body idref="Coupling_strut_20">
            <centerPoint idref="p138"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_22___coupling_strut_21">
         <body idref="Panel_22">
            <centerPoint idref="p140"/>
         </body>
         <body idref="Coupling_strut_21">
            <centerPoint idref="p140"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_23___coupling_strut_22">
         <body idref="Panel_23">
            <centerPoint idref="p142"/>
         </body>
         <body idref="Coupling_strut_22">
            <centerPoint idref="p142"/>
         </body>
      </joint.spherical>
      <joint.spherical id="S_panel_24___coupling_strut_23">
         <body idref="Panel_24">
            <centerPoint idref="p144"/>
         </body>
         <body idref="Coupling_strut_23">
            <centerPoint idref="p144"/>
         </body>
      </joint.spherical>
      <joint.revolute id="R_panel_1___leverbar_1" >
	            <body idref="Panel_1">
		            <axisPoint idref="p6"/>
		            <axisDir>
		                <fromPoint idref="p6"/>
		                <toPoint idref="p146"/>
		            </axisDir>
	            </body>
	            <body idref="Leverbar_1">
					<axisPoint idref="p6"/>
					<axisDir>
					    <fromPoint idref="p6"/>
					    <toPoint idref="146"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_2___leverbar_2" >
				<body idref="Panel_2">
					<axisPoint idref="p10"/>
					<axisDir>
					    <fromPoint idref="p10"/>
					    <toPoint idref="p100"/>
					</axisDir>
				</body>
				<body idref="Leverbar_2">
					<axisPoint idref="p10"/>
					<axisDir>
					    <fromPoint idref="p10"/>
					    <toPoint idref="p100"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_3___leverbar_3" >
				<body idref="Panel_3">
					<axisPoint idref="p14"/>
					<axisDir>
					    <fromPoint idref="p14"/>
					    <toPoint idref="p102"/>
					</axisDir>
				</body>
				<body idref="Leverbar_3">
					<axisPoint idref="p14"/>
					<axisDir>
					    <fromPoint idref="p14"/>
					    <toPoint idref="p102"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_4___leverbar_4" >
				<body idref="Panel_4">
					<axisPoint idref="p18"/>
					<axisDir>
					    <fromPoint idref="p18"/>
					    <toPoint idref="p104"/>
					</axisDir>
				</body>
				<body idref="Leverbar_4">
					<axisPoint idref="p18"/>
					<axisDir>
					    <fromPoint idref="p18"/>
					    <toPoint idref="p104"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_5___leverbar_5" >
				<body idref="Panel_5">
					<axisPoint idref="p22"/>
					<axisDir>
					    <fromPoint idref="p22"/>
					    <toPoint idref="p106"/>
					</axisDir>
				</body>
				<body idref="Leverbar_5">
					<axisPoint idref="p22"/>
					<axisDir>
					    <fromPoint idref="p22"/>
					    <toPoint idref="p106"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_6___leverbar_6" >
				<body idref="Panel_6">
					<axisPoint idref="p26"/>
					<axisDir>
					    <fromPoint idref="p26"/>
					    <toPoint idref="p108"/>
					</axisDir>
				</body>
				<body idref="Leverbar_6">
					<axisPoint idref="p26"/>
					<axisDir>
					    <fromPoint idref="p26"/>
					    <toPoint idref="p108"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_7___leverbar_7" >
				<body idref="Panel_7">
					<axisPoint idref="p30"/>
					<axisDir>
					    <fromPoint idref="p30"/>
					    <toPoint idref="p110"/>
					</axisDir>
				</body>
				<body idref="Leverbar_7">
					<axisPoint idref="p30"/>
					<axisDir>
					    <fromPoint idref="p30"/>
					    <toPoint idref="p110"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_8___leverbar_8" >
				<body idref="Panel_8">
					<axisPoint idref="p34"/>
					<axisDir>
					    <fromPoint idref="p34"/>
  					    <toPoint idref="p112"/>
  					</axisDir>
				</body>
				<body idref="Leverbar_8">
					<axisPoint idref="p34"/>
					<axisDir>
					    <fromPoint idref="p34"/>
					    <toPoint idref="p112"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_9___leverbar_9" >
				<body idref="Panel_9">
					<axisPoint idref="p38"/>
					<axisDir>
					    <fromPoint idref="p38"/>
					    <toPoint idref="p114"/>
					 </axisDir>
				</body>
				<body idref="Leverbar_9">
					<axisPoint idref="p38"/>
					<axisDir>
					    <fromPoint idref="p38"/>
					    <toPoint idref="p114"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_10___leverbar_10" >
				<body idref="Panel_10">
					<axisPoint idref="p42"/>
					<axisDir>
					    <fromPoint idref="p42"/>
					    <toPoint idref="p116"/>
					</axisDir>
				</body>
				<body idref="Leverbar_10">
					<axisPoint idref="p42"/>
					<axisDir>
					    <fromPoint idref="p42"/>
					    <toPoint idref="p116"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_11___leverbar_11" >
				<body idref="Panel_11">
					<axisPoint idref="p46"/>
					<axisDir>
					    <fromPoint idref="p46"/>
					    <toPoint idref="p118"/>
					</axisDir>
				</body>
				<body idref="Leverbar_11">
					<axisPoint idref="p46"/>
					<axisDir>
					    <fromPoint idref="p46"/>
					    <toPoint idref="p118"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_12___leverbar_12" >
				<body idref="Panel_12">
					<axisPoint idref="p50"/>
					<axisDir>
					    <fromPoint idref="p50"/>
					    <toPoint idref="p120"/>
					</axisDir>
				</body>
				<body idref="Leverbar_12">
					<axisPoint idref="p50"/>
					<axisDir>
					    <fromPoint idref="p50"/>
					    <toPoint idref="p120"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_13___leverbar_13" >
				<body idref="Panel_13">
					<axisPoint idref="p54"/>
					<axisDir>
					    <fromPoint idref="p54"/>
					    <toPoint idref="p122"/>
				    </axisDir>
				</body>
				<body idref="Leverbar_13">
					<axisPoint idref="p54"/>
					<axisDir>
					    <fromPoint idref="p54"/>
					    <toPoint idref="p122"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_14___leverbar_14" >
				<body idref="Panel_14">
					<axisPoint idref="p58"/>
					<axisDir>
					    <fromPoint idref="p58"/>
					    <toPoint idref="p124"/>
					</axisDir>
				</body>
				<body idref="Leverbar_14">
					<axisPoint idref="p58"/>
					<axisDir>
					    <fromPoint idref="p58"/>
					    <toPoint idref="p124"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_15___leverbar_15" >
				<body idref="Panel_15">
					<axisPoint idref="p62"/>
					<axisDir>
					    <fromPoint idref="p62"/>
					    <toPoint idref="p126"/>
					</axisDir>
				</body>
				<body idref="Leverbar_15">
					<axisPoint idref="p62"/>
					<axisDir>
					    <fromPoint idref="p62"/>
					    <toPoint idref="p126"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_16___leverbar_16" >
				<body idref="Panel_16">
					<axisPoint idref="p66"/>
					<axisDir>
					    <fromPoint idref="p66"/>
					    <toPoint idref="p128"/>
					</axisDir>
				</body>
				<body idref="Leverbar_16">
					<axisPoint idref="p66"/>
					<axisDir>
					    <fromPoint idref="p66"/>
					    <toPoint idref="p128"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_17___leverbar_17" >
				<body idref="Panel_17">
					<axisPoint idref="p70"/>
					<axisDir>
					    <fromPoint idref="p70"/>
					    <toPoint idref="p130"/>
					</axisDir>
				</body>
				<body idref="Leverbar_17">
					<axisPoint idref="p70"/>
					<axisDir>
					    <fromPoint idref="p70"/>
					    <toPoint idref="p130"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_18___leverbar_18" >
				<body idref="Panel_18">
					<axisPoint idref="p74"/>
					<axisDir>
					    <fromPoint idref="p74"/>
					    <toPoint idref="p132"/>
					</axisDir>
				</body>
				<body idref="Leverbar_18">
					<axisPoint idref="p74"/>
					<axisDir>
					    <fromPoint idref="p74"/>
					    <toPoint idref="p132"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_19___leverbar_19" >
				<body idref="Panel_19">
					<axisPoint idref="p78"/>
					<axisDir>
					    <fromPoint idref="p78"/>
					    <toPoint idref="p134"/>
					</axisDir>
				</body>
				<body idref="Leverbar_19">
					<axisPoint idref="p78"/>
					<axisDir>
					    <fromPoint idref="p78"/>
					    <toPoint idref="p134"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_20___leverbar_20" >
				<body idref="Panel_20">
					<axisPoint idref="p82"/>
					<axisDir>
					    <fromPoint idref="p82"/>
					    <toPoint idref="p136"/>
					</axisDir>
				</body>
				<body idref="Leverbar_20">
					<axisPoint idref="p82"/>
					<axisDir>
					    <fromPoint idref="p82"/>
					    <toPoint idref="p136"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_21___leverbar_21" >
				<body idref="Panel_21">
					<axisPoint idref="p86"/>
					<axisDir>
					    <fromPoint idref="p86"/>
					    <toPoint idref="p138"/>
					</axisDir>
				</body>
				<body idref="Leverbar_21">
					<axisPoint idref="p86"/>
					<axisDir>
					    <fromPoint idref="p86"/>
					    <toPoint idref="p138"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_22___leverbar_22" >
				<body idref="Panel_22">
					<axisPoint idref="p90"/>
					<axisDir>
					    <fromPoint idref="p90"/>
					    <toPoint idref="p140"/>
					</axisDir>
				</body>
				<body idref="Leverbar_22">
					<axisPoint idref="p90"/>
					<axisDir>
					    <fromPoint idref="p90"/>
					    <toPoint idref="p140"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_23___leverbar_23" >
				<body idref="Panel_23">
					<axisPoint idref="p94"/>
					<axisDir>
					    <fromPoint idref="p94"/>
					    <toPoint idref="p142"/>
					</axisDir>
				</body>
				<body idref="Leverbar_23">
					<axisPoint idref="p94"/>
					<axisDir>
					    <fromPoint idref="p94"/>
					    <toPoint idref="p142"/>
					</axisDir>
				</body>
			</joint.revolute>
			<joint.revolute id="R_panel_24___leverbar_24" >
				<body idref="Panel_24">
					<axisPoint idref="p98"/>
					<axisDir>
					    <fromPoint idref="p98"/>
					    <toPoint idref="p144"/>
					</axisDir>
				</body>
				<body idref="Leverbar_24">
					<axisPoint idref="p98"/>
					<axisDir>
					    <fromPoint idref="p98"/>
					    <toPoint idref="p144"/>
					</axisDir>
				</body>
			</joint.revolute>
		 

   </model>
   <task>
        <analysis>
        </analysis> 
    </task>
</job>
