<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Mechanism xmlns="http://www.dmg-lib.org/mechanism" dmglib_MecID="0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.dmg-lib.org/mechanism http://dmg-lib.org/dmglib/schemas/mechanism.xsd">

  <Shapes xmlns="http://www.dmg-lib.org/shapes">
    <Shape id="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </Shape>
    <Shape id="SwivelJoint.3D">
      <Cylinder height="0.1" id="SwivelJoint.3D..cyl" location="xy" origin="0,0,-0.05" radius="0.0125"/>
    </Shape>
    <Shape id="Bar.2D.normal">
      <Line id="Bar.2D.normal..line" x1="0" x2="1" y1="0" y2="0"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          line.x1 = line.x1 * sx;
          line.y1 = line.y1 * sy;
          line.x2 = line.x2 * sx;
          line.y2 = line.y2 * sy;
      }
]]>
    </Shape>
    <Shape id="Bar.3D">
      <Cylinder height="0.05" id="Bar.3D..cyl1" location="xy" origin="0,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl2" location="xy" origin="1,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl3" location="xy" origin="0,0,-0.025" radius="0.0125"/>
      <Cylinder height="0.05" id="Bar.3D..cyl4" location="xy" origin="1,0,-0.025" radius="0.0125"/>
      <Box height="0.05" id="Bar.3D..box" length="1" location="yz" origin="0,0,0" width="0.05"/>
      <Union geometry1="Bar.3D..box" geometry2="Bar.3D..cyl1" id="Bar.3D..union1"/>
      <Union geometry1="Bar.3D..union1" geometry2="Bar.3D..cyl2" id="Bar.3D..union2"/>
      <Difference geometry1="Bar.3D..union2" geometry2="Bar.3D..cyl3" id="Bar.3D..diff1"/>
      <Difference geometry1="Bar.3D..diff1" geometry2="Bar.3D..cyl4" id="Bar.3D..diff2"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          box.length = box.length * sx;
          cyl1.originx = cyl1.originx * sx;
          cyl2.originx = cyl2.originx * sx;
          cyl3.originx = cyl3.originx * sx;
          cyl4.originx = cyl4.originx * sx;
      }
]]>
    </Shape>
    <Shape id="RigidJoint.2D.normal" scale="0.02">
      <Rectangle cx="0" cy="0" filled="true" height="2" id="RigidJoint.2D.normal..rect" width="2"/>
    </Shape>
    <Shape id="SwivelJoint.2D.fixed" scale="0.02">
      <Line id="SwivelJoint.2D.fixed..line1" x1="-0.75" x2="-1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line2" x1="0.75" x2="1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line3" x1="-2.5" x2="2.5" y1="-3" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line4" x1="-2.25" x2="-0.75" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line5" x1="-1.125" x2="0.375" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line6" x1="0" x2="1.5" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line7" x1="1.125" x2="2.625" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line8" x1="2.25" x2="3.75" y1="-3" y2="-4.25"/>
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.fixed..circle" radius="1"/>
    </Shape>
    <Shape id="Point.2D.normal" scale="0.019">
      <Circle cx="0" cy="0" filled="true" id="Point.2D.normal..circle" radius="1"/>
    </Shape>
  </Shapes>

  <ComponentSpaces xmlns="http://www.dmg-lib.org/componentspaces">
    <ComponentSpace id="cspace1" type="planar">
      <Positions>
        <Position id="pos1" x="-0.450506" y="-0.280234"/>
        <Position id="pos2" x="-0.303255" y="0.0706287"/>
        <Position id="pos3" x="0.283802" y="-0.0499385"/>
        <Position id="pos4" x="-0.00364748" y="-0.215624"/>
        <Position id="pos5" x="-0.0234492" y="0.350099"/>
        <Position id="pos6" x="0.430304" y="0.300546"/>
        <Position id="pos7" x="-0.450506" y="-0.280234"/>
        <Position id="pos8" x="-0.221314" y="-0.183081"/>
        <Position id="pos9" x="-0.221314" y="-0.183081"/>
        <Position id="pos10" x="-0.00364748" y="-0.215624"/>
        <Position id="pos11" x="-0.221314" y="-0.183081"/>
        <Position id="pos12" x="-0.221314" y="-0.183081"/>
        <Position id="pos13" x="-0.450506" y="-0.280234"/>
        <Position id="pos14" x="-0.436549" y="0.00767837"/>
        <Position id="pos15" x="-0.436549" y="0.00767837"/>
        <Position id="pos16" x="-0.303255" y="0.0706287"/>
        <Position id="pos17" x="-0.436549" y="0.00767837"/>
        <Position id="pos18" x="-0.0234492" y="0.350099"/>
        <Position id="pos19" x="0.182928" y="0.265832"/>
        <Position id="pos20" x="0.182928" y="0.265832"/>
        <Position id="pos21" x="0.430304" y="0.300546"/>
        <Position id="pos22" x="0.182928" y="0.265832"/>
        <Position id="pos23" x="0.430304" y="0.300546"/>
        <Position id="pos24" x="0.415627" y="0.0193292"/>
        <Position id="pos25" x="0.415627" y="0.0193292"/>
        <Position id="pos26" x="0.283802" y="-0.0499385"/>
        <Position id="pos27" x="0.415627" y="0.0193292"/>
        <Position id="pos28" x="-0.436549" y="0.00767837"/>
        <Position id="pos29" x="0.415627" y="0.0193292"/>
        <Position id="pos30" x="-0.221314" y="-0.183081"/>
        <Position id="pos31" x="0.283802" y="-0.0499385"/>
        <Position id="pos32" x="0.182928" y="0.265832"/>
        <Position id="pos33" x="-0.303255" y="0.0706287"/>
        <Position id="pos34" x="0.182928" y="0.265832"/>
        <Position id="pos35" x="-0.0234492" y="0.350099"/>
        <Position id="pos36" x="-0.00364748" y="-0.215624"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.280234"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.0706287"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.0499385"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-0.215624"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="0.350099"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="0.300546"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="0.400932"/>
        <Scalar id="scalar14" value="0.0821884"/>
        <Scalar id="scalar15" value="0.248933"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="-0.0118615"/>
        <Scalar id="scalar18" value="2.99318"/>
        <Scalar id="scalar19" value="-0.213793"/>
        <Scalar id="scalar20" value="0.220086"/>
        <Scalar id="scalar21" value="-0.183081"/>
        <Scalar id="scalar22" value="0"/>
        <Scalar id="scalar23" value="1.52236"/>
        <Scalar id="scalar24" value="-0.436408"/>
        <Scalar id="scalar25" value="0.28825"/>
        <Scalar id="scalar26" value="0"/>
        <Scalar id="scalar27" value="-0.00223058"/>
        <Scalar id="scalar28" value="-2.70037"/>
        <Scalar id="scalar29" value="0.193367"/>
        <Scalar id="scalar30" value="0.14741"/>
        <Scalar id="scalar31" value="-0.387655"/>
        <Scalar id="scalar32" value="-0.315257"/>
        <Scalar id="scalar33" value="0.222919"/>
        <Scalar id="scalar34" value="0"/>
        <Scalar id="scalar35" value="0.0191975"/>
        <Scalar id="scalar36" value="-3.00217"/>
        <Scalar id="scalar37" value="0.237831"/>
        <Scalar id="scalar38" value="0.2498"/>
        <Scalar id="scalar39" value="-1.62294"/>
        <Scalar id="scalar40" value="-0.414055"/>
        <Scalar id="scalar41" value="0.2816"/>
        <Scalar id="scalar42" value="0"/>
        <Scalar id="scalar43" value="-0.0048411"/>
        <Scalar id="scalar44" value="0.483801"/>
        <Scalar id="scalar45" value="0.176217"/>
        <Scalar id="scalar46" value="0.148916"/>
        <Scalar id="scalar47" value="0.00767837"/>
        <Scalar id="scalar48" value="0"/>
        <Scalar id="scalar49" value="0.0193292"/>
        <Scalar id="scalar50" value="0"/>
        <Scalar id="scalar51" value="0.257725"/>
        <Scalar id="scalar52" value="0.120625"/>
        <Scalar id="scalar53" value="0.522369"/>
        <Scalar id="scalar54" value="0.265832"/>
        <Scalar id="scalar55" value="0"/>
        <Scalar id="scalar56" value="0.381799"/>
        <Scalar id="scalar57" value="-0.178533"/>
        <Scalar id="scalar58" value="0.523907"/>
        <Scalar id="scalar59" value="-1.53581"/>
        <Scalar id="scalar60" value="0.011188"/>
        <Scalar id="scalar61" value="0.56607"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar1">
          <Point fixed="false" id="sBar1.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar1.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar1.axis">
            <Param fixed="false" id="sBar1.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="sBar1.axis.offs" scalarRef="scalar14"/>
          </Line>
          <Param fixed="true" id="sBar1.length" scalarRef="scalar15"/>
        </Bar>
        <Bar fixed="false" id="sBar2">
          <Point fixed="false" id="sBar2.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar2.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar2.axis">
            <Param fixed="false" id="sBar2.axis.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="sBar2.axis.offs" scalarRef="scalar19"/>
          </Line>
          <Param fixed="true" id="sBar2.length" scalarRef="scalar20"/>
        </Bar>
        <Bar fixed="false" id="sBar3">
          <Point fixed="false" id="sBar3.pt1" posRef="pos13"/>
          <Point fixed="false" id="sBar3.pt2" posRef="pos14"/>
          <Line fixed="false" id="sBar3.axis">
            <Param fixed="false" id="sBar3.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="sBar3.axis.offs" scalarRef="scalar24"/>
          </Line>
          <Param fixed="true" id="sBar3.length" scalarRef="scalar25"/>
        </Bar>
        <Bar fixed="false" id="sBar4">
          <Point fixed="false" id="sBar4.pt1" posRef="pos16"/>
          <Point fixed="false" id="sBar4.pt2" posRef="pos17"/>
          <Line fixed="false" id="sBar4.axis">
            <Param fixed="false" id="sBar4.axis.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="sBar4.axis.offs" scalarRef="scalar29"/>
          </Line>
          <Param fixed="true" id="sBar4.length" scalarRef="scalar30"/>
        </Bar>
        <Bar fixed="false" id="sBar5">
          <Point fixed="false" id="sBar5.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar5.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar5.axis">
            <Param fixed="false" id="sBar5.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar5.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar5.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar6">
          <Point fixed="false" id="sBar6.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar6.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar6.axis">
            <Param fixed="false" id="sBar6.axis.dir" scalarRef="scalar36"/>
            <Param fixed="false" id="sBar6.axis.offs" scalarRef="scalar37"/>
          </Line>
          <Param fixed="true" id="sBar6.length" scalarRef="scalar38"/>
        </Bar>
        <Bar fixed="false" id="sBar7">
          <Point fixed="false" id="sBar7.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar7.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar7.axis">
            <Param fixed="false" id="sBar7.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar7.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar7.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar8">
          <Point fixed="false" id="sBar8.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar8.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar8.axis">
            <Param fixed="false" id="sBar8.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar8.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar8.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar10">
          <Point fixed="false" id="sBar10.pt1" posRef="pos30"/>
          <Point fixed="false" id="sBar10.pt2" posRef="pos31"/>
          <Line fixed="false" id="sBar10.axis">
            <Param fixed="false" id="sBar10.axis.dir" scalarRef="scalar51"/>
            <Param fixed="false" id="sBar10.axis.offs" scalarRef="scalar52"/>
          </Line>
          <Param fixed="true" id="sBar10.length" scalarRef="scalar53"/>
        </Bar>
        <Bar fixed="false" id="sBar11">
          <Point fixed="false" id="sBar11.pt1" posRef="pos33"/>
          <Point fixed="false" id="sBar11.pt2" posRef="pos34"/>
          <Line fixed="false" id="sBar11.axis">
            <Param fixed="false" id="sBar11.axis.dir" scalarRef="scalar56"/>
            <Param fixed="false" id="sBar11.axis.offs" scalarRef="scalar57"/>
          </Line>
          <Param fixed="true" id="sBar11.length" scalarRef="scalar58"/>
        </Bar>
        <Bar fixed="false" id="sBar12">
          <Point fixed="false" id="sBar12.pt1" posRef="pos35"/>
          <Point fixed="false" id="sBar12.pt2" posRef="pos36"/>
          <Line fixed="false" id="sBar12.axis">
            <Param fixed="false" id="sBar12.axis.dir" scalarRef="scalar59"/>
            <Param fixed="false" id="sBar12.axis.offs" scalarRef="scalar60"/>
          </Line>
          <Param fixed="true" id="sBar12.length" scalarRef="scalar61"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="false" id="swj1">
          <Point fixed="false" id="swj1.pt" posRef="pos1"/>
          <Line fixed="false" id="swj1.line">
            <Param fixed="false" id="swj1.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj1.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj2">
          <Point fixed="false" id="swj2.pt" posRef="pos2"/>
          <Line fixed="false" id="swj2.line">
            <Param fixed="false" id="swj2.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj2.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj4">
          <Point fixed="false" id="swj4.pt" posRef="pos3"/>
          <Line fixed="false" id="swj4.line">
            <Param fixed="false" id="swj4.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj4.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj5">
          <Point fixed="false" id="swj5.pt" posRef="pos4"/>
          <Line fixed="false" id="swj5.line">
            <Param fixed="false" id="swj5.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj5.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj6">
          <Point fixed="false" id="swj6.pt" posRef="pos5"/>
          <Line fixed="false" id="swj6.line">
            <Param fixed="false" id="swj6.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj6.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj8">
          <Point fixed="false" id="swj8.pt" posRef="pos6"/>
          <Line fixed="false" id="swj8.line">
            <Param fixed="false" id="swj8.line.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="swj8.line.offs" scalarRef="scalar11"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj9">
          <Point fixed="false" id="swj9.pt" posRef="pos12"/>
          <Line fixed="false" id="swj9.line">
            <Param fixed="false" id="swj9.line.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="swj9.line.offs" scalarRef="scalar21"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj11">
          <Point fixed="true" id="swj11.pt" posRef="pos28"/>
          <Line fixed="false" id="swj11.line">
            <Param fixed="false" id="swj11.line.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="swj11.line.offs" scalarRef="scalar47"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj12">
          <Point fixed="true" id="swj12.pt" posRef="pos29"/>
          <Line fixed="false" id="swj12.line">
            <Param fixed="false" id="swj12.line.dir" scalarRef="scalar50"/>
            <Param fixed="false" id="swj12.line.offs" scalarRef="scalar49"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj13">
          <Point fixed="false" id="swj13.pt" posRef="pos32"/>
          <Line fixed="false" id="swj13.line">
            <Param fixed="false" id="swj13.line.dir" scalarRef="scalar55"/>
            <Param fixed="false" id="swj13.line.offs" scalarRef="scalar54"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj1">
          <Point fixed="false" id="rgj1.pt" posRef="pos9"/>
          <Line fixed="false" id="rgj1.axis">
            <Param fixed="false" id="rgj1.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="rgj1.axis.offs" scalarRef="scalar16"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj2">
          <Point fixed="false" id="rgj2.pt" posRef="pos15"/>
          <Line fixed="false" id="rgj2.axis">
            <Param fixed="false" id="rgj2.axis.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="rgj2.axis.offs" scalarRef="scalar26"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj3">
          <Point fixed="false" id="rgj3.pt" posRef="pos20"/>
          <Line fixed="false" id="rgj3.axis">
            <Param fixed="false" id="rgj3.axis.dir" scalarRef="scalar35"/>
            <Param fixed="false" id="rgj3.axis.offs" scalarRef="scalar34"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj4">
          <Point fixed="false" id="rgj4.pt" posRef="pos25"/>
          <Line fixed="false" id="rgj4.axis">
            <Param fixed="false" id="rgj4.axis.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="rgj4.axis.offs" scalarRef="scalar42"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar2.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar1.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar4.pt2" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar3.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar6.pt2" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar5.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar8.pt2" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar7.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj1.pt" elementPointRef="sBar3.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj1.pt" elementPointRef="sBar1.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj13.pt" elementPointRef="sBar11.pt2" id="pointcon11"/>
        <PointConnection couplingPointRef="swj2.pt" elementPointRef="sBar11.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj2.pt" elementPointRef="sBar4.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="swj4.pt" elementPointRef="sBar10.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj4.pt" elementPointRef="sBar8.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj5.pt" elementPointRef="sBar12.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj5.pt" elementPointRef="sBar2.pt1" id="pointcon17"/>
        <PointConnection couplingPointRef="swj6.pt" elementPointRef="sBar12.pt1" id="pointcon18"/>
        <PointConnection couplingPointRef="swj6.pt" elementPointRef="sBar5.pt1" id="pointcon19"/>
        <PointConnection couplingPointRef="swj8.pt" elementPointRef="sBar7.pt1" id="pointcon20"/>
        <PointConnection couplingPointRef="swj8.pt" elementPointRef="sBar6.pt1" id="pointcon21"/>
        <PointConnection couplingPointRef="swj9.pt" elementPointRef="sBar10.pt1" id="pointcon22"/>
        <CouplingConnection coupling1Ref="swj11" coupling2Ref="rgj2" id="couplingcon23" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj12" coupling2Ref="rgj4" id="couplingcon24" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj13" coupling2Ref="rgj3" id="couplingcon25" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj9" coupling2Ref="rgj1" id="couplingcon26" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
