212 lines
9.0 KiB
XML
212 lines
9.0 KiB
XML
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<mujoco model="planar manipulator">
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<include file="./common/visual.xml"/>
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<include file="./common/skybox.xml"/>
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<include file="./common/materials.xml"/>
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<asset>
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<texture name="background" builtin="flat" type="2d" mark="random" markrgb="1 1 1" width="800" height="800" rgb1=".2 .3 .4"/>
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<material name="background" texture="background" texrepeat="1 1" texuniform="true"/>
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</asset>
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<visual>
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<map shadowclip=".5"/>
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<quality shadowsize="2048"/>
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</visual>>
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<option timestep="0.001" cone="elliptic"/>
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<default>
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<geom friction=".7" solimp="0.9 0.97 0.001" solref=".005 1"/>
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<joint solimplimit="0 0.99 0.01" solreflimit=".005 1"/>
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<general ctrllimited="true"/>
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<tendon width="0.01"/>
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<site size=".003 .003 .003" material="site" group="3"/>
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<default class="arm">
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<geom type="capsule" material="self" density="500"/>
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<joint type="hinge" pos="0 0 0" axis="0 -1 0" limited="true"/>
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<default class="hand">
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<joint damping=".5" range="-10 60"/>
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<geom size=".008"/>
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<site type="box" size=".018 .005 .005" pos=".022 0 -.002" euler="0 15 0" group="4"/>
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<default class="fingertip">
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<geom type="sphere" size=".008" material="effector"/>
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<joint damping=".01" stiffness=".01" range="-40 20"/>
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<site size=".012 .005 .008" pos=".003 0 .003" group="4" euler="0 0 0"/>
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</default>
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</default>
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</default>
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<default class="object">
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<geom material="self"/>
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</default>
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<default class="task">
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<site rgba="0 0 0 0"/>
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</default>
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<default class="obstacle">
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<geom material="decoration" friction="0"/>
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</default>
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<default class="ghost">
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<geom material="target" contype="0" conaffinity="0"/>
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</default>
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</default>
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<worldbody>
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<!-- Arena -->
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<light name="light" directional="true" diffuse=".6 .6 .6" pos="0 0 1" specular=".3 .3 .3"/>
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<geom name="floor" type="plane" pos="0 0 0" size=".4 .2 10" material="grid"/>
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<geom name="wall1" type="plane" pos="-.682843 0 .282843" size=".4 .2 10" material="grid" zaxis="1 0 1"/>
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<geom name="wall2" type="plane" pos=".682843 0 .282843" size=".4 .2 10" material="grid" zaxis="-1 0 1"/>
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<geom name="background" type="plane" pos="0 .2 .5" size="1 .5 10" material="background" zaxis="0 -1 0"/>
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<camera name="fixed" pos="0 -16 .4" xyaxes="1 0 0 0 0 1" fovy="4"/>
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<!-- Arm -->
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<geom name="arm_root" type="cylinder" fromto="0 -.022 .4 0 .022 .4" size=".024"
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material="decoration" contype="0" conaffinity="0"/>
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<body name="upper_arm" pos="0 0 .4" childclass="arm">
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<joint name="arm_root" damping="2" limited="false"/>
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<geom name="upper_arm" size=".02" fromto="0 0 0 0 0 .18"/>
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<body name="middle_arm" pos="0 0 .18" childclass="arm">
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<joint name="arm_shoulder" damping="1.5" range="-160 160"/>
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<geom name="middle_arm" size=".017" fromto="0 0 0 0 0 .15"/>
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<body name="lower_arm" pos="0 0 .15">
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<joint name="arm_elbow" damping="1" range="-160 160"/>
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<geom name="lower_arm" size=".014" fromto="0 0 0 0 0 .12"/>
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<body name="hand" pos="0 0 .12">
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<joint name="arm_wrist" damping=".5" range="-140 140" />
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<geom name="hand" size=".011" fromto="0 0 0 0 0 .03"/>
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<geom name="palm1" fromto="0 0 .03 .03 0 .045" class="hand"/>
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<geom name="palm2" fromto="0 0 .03 -.03 0 .045" class="hand"/>
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<site name="grasp" pos="0 0 .065"/>
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<body name="pinch site" pos="0 0 .090">
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<site name="pinch"/>
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<inertial pos="0 0 0" mass="1e-6" diaginertia="1e-12 1e-12 1e-12"/>
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<camera name="hand" pos="0 -.3 0" xyaxes="1 0 0 0 0 1" mode="track"/>
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</body>
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<site name="palm_touch" type="box" group="4" size=".025 .005 .008" pos="0 0 .043"/>
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<body name="thumb" pos=".03 0 .045" euler="0 -90 0" childclass="hand">
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<joint name="thumb"/>
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<geom name="thumb1" fromto="0 0 0 .02 0 -.01" size=".007"/>
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<geom name="thumb2" fromto=".02 0 -.01 .04 0 -.01" size=".007"/>
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<site name="thumb_touch" group="4"/>
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<body name="thumbtip" pos=".05 0 -.01" childclass="fingertip">
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<joint name="thumbtip"/>
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<geom name="thumbtip1" pos="-.003 0 0" />
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<geom name="thumbtip2" pos=".003 0 0" />
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<site name="thumbtip_touch" group="4"/>
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</body>
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</body>
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<body name="finger" pos="-.03 0 .045" euler="0 90 180" childclass="hand">
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<joint name="finger"/>
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<geom name="finger1" fromto="0 0 0 .02 0 -.01" size=".007" />
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<geom name="finger2" fromto=".02 0 -.01 .04 0 -.01" size=".007"/>
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<site name="finger_touch"/>
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<body name="fingertip" pos=".05 0 -.01" childclass="fingertip">
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<joint name="fingertip"/>
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<geom name="fingertip1" pos="-.003 0 0" />
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<geom name="fingertip2" pos=".003 0 0" />
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<site name="fingertip_touch"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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<!-- props -->
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<body name="ball" pos=".4 0 .4" childclass="object">
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<joint name="ball_x" type="slide" axis="1 0 0" ref=".4"/>
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<joint name="ball_z" type="slide" axis="0 0 1" ref=".4"/>
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<joint name="ball_y" type="hinge" axis="0 1 0"/>
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<geom name="ball" type="sphere" size=".022" />
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<site name="ball" type="sphere"/>
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</body>
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<body name="peg" pos="-.4 0 .4" childclass="object">
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<joint name="peg_x" type="slide" axis="1 0 0" ref="-.4"/>
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<joint name="peg_z" type="slide" axis="0 0 1" ref=".4"/>
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<joint name="peg_y" type="hinge" axis="0 1 0"/>
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<geom name="blade" type="capsule" size=".005" fromto="0 0 -.013 0 0 -.113"/>
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<geom name="guard" type="capsule" size=".005" fromto="-.017 0 -.043 .017 0 -.043"/>
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<body name="pommel" pos="0 0 -.013">
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<geom name="pommel" type="sphere" size=".009"/>
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</body>
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<site name="peg" type="box" pos="0 0 -.063"/>
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<site name="peg_pinch" type="box" pos="0 0 -.025"/>
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<site name="peg_grasp" type="box" pos="0 0 0"/>
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<site name="peg_tip" type="box" pos="0 0 -.113"/>
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</body>
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<!-- receptacles -->
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<body name="slot" pos="-.405 0 .2" euler="0 20 0" childclass="obstacle">
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<geom name="slot_0" type="box" pos="-.0252 0 -.083" size=".0198 .01 .035"/>
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<geom name="slot_1" type="box" pos=" .0252 0 -.083" size=".0198 .01 .035"/>
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<geom name="slot_2" type="box" pos=" 0 0 -.138" size=".045 .01 .02"/>
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<site name="slot" type="box" pos="0 0 0"/>
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<site name="slot_end" type="box" pos="0 0 -.05"/>
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</body>
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<body name="cup" pos=".3 0 .4" euler="0 -15 0" childclass="obstacle">
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<geom name="cup_0" type="capsule" size=".008" fromto="-.03 0 .06 -.03 0 -.015" />
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<geom name="cup_1" type="capsule" size=".008" fromto="-.03 0 -.015 0 0 -.04" />
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<geom name="cup_2" type="capsule" size=".008" fromto="0 0 -.04 .03 0 -.015" />
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<geom name="cup_3" type="capsule" size=".008" fromto=".03 0 -.015 .03 0 .06" />
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<site name="cup" size=".005"/>
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</body>
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<!-- targets -->
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<body name="target_ball" pos=".4 .001 .4" childclass="ghost">
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<geom name="target_ball" type="sphere" size=".02" />
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<site name="target_ball" type="sphere"/>
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</body>
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<body name="target_peg" pos="-.2 .001 .4" childclass="ghost">
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<geom name="target_blade" type="capsule" size=".005" fromto="0 0 -.013 0 0 -.113"/>
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<geom name="target_guard" type="capsule" size=".005" fromto="-.017 0 -.043 .017 0 -.043"/>
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<geom name="target_pommel" type="sphere" size=".009" pos="0 0 -.013"/>
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<site name="target_peg" type="box" pos="0 0 -.063"/>
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<site name="target_peg_pinch" type="box" pos="0 0 -.025"/>
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<site name="target_peg_grasp" type="box" pos="0 0 0"/>
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<site name="target_peg_tip" type="box" pos="0 0 -.113"/>
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</body>
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</worldbody>
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<tendon>
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<fixed name="grasp">
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<joint joint="thumb" coef=".5"/>
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<joint joint="finger" coef=".5"/>
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</fixed>
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<fixed name="coupling">
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<joint joint="thumb" coef="-.5"/>
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<joint joint="finger" coef=".5"/>
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</fixed>
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</tendon>
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<equality>
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<tendon name="coupling" tendon1="coupling" solimp="0.95 0.99 0.001" solref=".005 .5"/>
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</equality>
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<sensor>
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<touch name="palm_touch" site="palm_touch"/>
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<touch name="finger_touch" site="finger_touch"/>
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<touch name="thumb_touch" site="thumb_touch"/>
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<touch name="fingertip_touch" site="fingertip_touch"/>
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<touch name="thumbtip_touch" site="thumbtip_touch"/>
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</sensor>
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<actuator>
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<motor name="root" joint="arm_root" ctrlrange="-1 1" gear="12"/>
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<motor name="shoulder" joint="arm_shoulder" ctrlrange="-1 1" gear="8"/>
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<motor name="elbow" joint="arm_elbow" ctrlrange="-1 1" gear="4"/>
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<motor name="wrist" joint="arm_wrist" ctrlrange="-1 1" gear="2"/>
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<motor name="grasp" tendon="grasp" ctrlrange="-1 1" gear="2"/>
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</actuator>
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</mujoco>
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