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                <geom name="G8_5" size="0.011" condim="4" friction="0.05 0.05 0.05" solref="0.005 1.01556" solimp="0.984422 0.9922 0.00744444 0.5 2" rgba="0 0 1 0.8"/>
                <site name="S8_5" pos="0 0 0" group="3"/>
            </body>
            <body name="B8_6" pos="-0.016 -0.064 0">
                <joint name="J0_8_6" pos="0 0 0" axis="1 0 0" type="slide" group="3"/>
                <joint name="J1_8_6" pos="0 0 0" axis="0 1 0" type="slide" group="3"/>
                <joint name="J2_8_6" pos="0 0 0" axis="0 0 1" type="slide" group="3"/>
                <geom name="G8_6" size="0.011" condim="4" friction="0.05 0.05 0.05" solref="0.005 1.01556" solimp="0.984422 0.9922 0.00744444 0.5 2" rgba="0 0 1 0.8"/>
                <site name="S8_6" pos="0 0 0" group="3"/>
            </body>
            <body name="B8_7" pos="-0.016 -0.04 0">
                <joint name="J0_8_7" pos="0 0 0" axis="1 0 0" type="slide" group="3"/>
                <joint name="J1_8_7" pos="0 0 0" axis="0 1 0" type="slide" group="3"/>
                <joint name="J2_8_7" pos="0 0 0" axis="0 0 1" type="slide" group="3"/>
                <geom name="G8_7" size="0.011" condim="4" friction="0.05 0.05 0.05" solref="0.005 1.01556" solimp="0.984422 0.9922 0.00744444 0.5 2" rgba="0 0 1 0.8"/>
                <site name="S8_7" pos="0 0 0" group="3"/>
            </body>
            <body name="B8_8" pos="-0.016 -0.016 0">
                <joint name="J0_8_8" pos="0 0 0" axis="1 0 0" type="slide" group="3"/>
                <joint name="J1_8_8" pos="0 0 0" axis="0 1 0" type="slide" group="3"/>
                <joint name="J2_8_8" pos="0 0 0" axis="0 0 1" type="slide" group="3"/>
                <geom name="G8_8" size="0.011" condim="4" friction="0.05 0.05 0.05" solref="0.005 1.01556" solimp="0.984422 0.9922 0.00744444 0.5 2" rgba="0 0 1 0.8"/>
                <site name="S8_8" pos="0 0 0" group="3"/>
            </body>
        </body>
        <body name="lookatbody" pos="0.510626 0.0341926 0.134887">
            <geom name="lookatgeom" size="0.001 0.001 0.001" type="box" group="1"/>
        </body>
        <body name="base" pos="0 0 0">
            <camera name="robotview" pos="1 0 0.4" quat="0.653 0.271 0.271 0.653"/>
            <body name="link0" pos="0 0 0">
                <geom name="link0_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link0_vis"/>
                <geom name="link0_collision" type="mesh" rgba="0 0.5 0 1" mesh="link0"/>
                <body name="link1" pos="0 0 0.333">
                    <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973"/>
                    <geom name="link1_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link1_vis"/>
                    <geom name="link1_collision" type="mesh" rgba="0 0.5 0 1" mesh="link1"/>
                    <body name="link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                        <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628"/>
                        <geom name="link2_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link2_vis"/>
                        <geom name="link2_collision" type="mesh" rgba="0 0.5 0 1" mesh="link2"/>
                        <body name="link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                            <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973"/>
                            <geom name="link3_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link3_vis"/>
                            <geom name="link3_collision" type="mesh" rgba="0 0.5 0 1" mesh="link3"/>
                            <body name="link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                                <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698"/>
                                <geom name="link4_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link4_vis"/>
                                <geom name="link4_collision" type="mesh" rgba="0 0.5 0 1" mesh="link4"/>
                                <body name="link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                                    <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973"/>
                                    <geom name="link5_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link5_vis"/>
                                    <geom name="link5_collision" type="mesh" rgba="0 0.5 0 1" mesh="link5"/>
                                    <body name="link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
                                        <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525"/>
                                        <geom name="link6_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link6_vis"/>
                                        <geom name="link6_collision" type="mesh" rgba="0 0.5 0 1" mesh="link6"/>
                                        <body name="link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
                                            <joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973"/>
                                            <geom name="link7_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link7_vis"/>
                                            <geom name="link7_collision" type="mesh" rgba="0 0.5 0 1" mesh="link7"/>
                                            <body name="right_hand" pos="0 0 0.1065" quat="0.923785 0 0 -0.382911">
                                                <site name="ee" pos="0 0 0" size="0.01" group="1" rgba="0 0 1 1"/>
                                                <site name="ee_x" pos="0 0 0" quat="0.707105 0.707108 0 0" size="0.005 0.1" group="1" type="cylinder" rgba="1 0 0 0"/>
                                                <site name="ee_z" pos="0 0 0" quat="0.707105 0 0 0.707108" size="0.005 0.1" group="1" type="cylinder" rgba="0 0 1 0"/>
                                                <site name="ee_y" pos="0 0 0" quat="0.707105 0 0.707108 0" size="0.005 0.1" group="1" type="cylinder" rgba="0 1 0 0"/>
                                                <camera name="eye_in_handu" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
                                                <body name="right_gripper" pos="0 0 0" quat="0.707107 0 0 -0.707107">
                                                    <geom name="hand_visual" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" material="floorplane3" rgba="1 1 1 1" mesh="hand_vis"/>
                                                    <geom name="hand_collision" quat="0.707107 0 0 0.707107" type="mesh" rgba="0 0 0.5 1" mesh="hand"/>
                                                    <geom name="grip_geom" size="0.0025" pos="0 0 0.155" group="1" rgba="1 0 0 0.5"/>
                                                    <site name="ft_frame" pos="0 0 0" size="0.01" group="1" rgba="1 0 0 1"/>
                                                    <site name="grip_site" pos="0 0 0.10377" size="0.0025" group="1" rgba="1 0 0 0.5"/>
                                                    <body name="leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                                                        <geom name="finger1_visual" type="mesh" contype="0" conaffinity="0" group="1" material="floorplane2" rgba="0.499 0.499 0.499 1" mesh="finger_plastic"/>
                                                        <geom name="finger1_collision" type="mesh" contype="0" condim="4" rgba="0 0 0.5 1" mesh="finger_plastic"/>
                                                        <body name="finger_joint1_tip" pos="0 0.0085 0.056">
                                                            <geom name="finger1_pad_collision" size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" friction="2 0.05 0.0001" solref="0.01 0.5" rgba="0 0 0.5 1"/>
                                                        </body>
                                                    </body>
                                                    <body name="rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                                                        <geom name="finger2_visual" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" material="floorplane2" rgba="0.499 0.499 0.499 1" mesh="finger_plastic"/>
                                                        <geom name="finger2_collision" quat="0 0 0 1" type="mesh" contype="0" condim="4" rgba="0 0 0.5 1" mesh="finger_plastic"/>
                                                        <body name="finger_joint2_tip" pos="0 -0.0085 0.056">
                                                            <geom name="finger2_pad_collision" size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" friction="2 0.05 0.0001" solref="0.01 0.5" rgba="0 0 0.5 1"/>
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
    <equality>
        <tendon tendon1="T0_0_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_0_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_1_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_2_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_3_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_4_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_5_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_6_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T0_7_8" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_0_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_1_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_2_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_3_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_4_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_5_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_6_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_7_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_0" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_1" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_2" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_3" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_4" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_5" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_6" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="T1_8_7" polycoef="0 1 0 0 0" solref="0.01 0.98" solimp="0.993267 0.9966 0.00422222 0.5 2"/>
        <tendon tendon1="TS0_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS0_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS1_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS2_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS3_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS4_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS5_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS6_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_0" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_1" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_2" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_3" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_4" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_5" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_6" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <tendon tendon1="TS7_7" polycoef="0 1 0 0 0" solref="0.05 1.01556" solimp="0.98 0.99 0.03 0.5 2"/>
        <distance geom1="G8_8" geom2="grip_geom" distance="0" solref="0.01 1" solimp="0.99 0.99 0.01 0.5 2"/>
    </equality>
    <tendon>
        <spatial name="T0_0_0" group="3">
            <site site="S0_0"/>
            <site site="S1_0"/>
        </spatial>
        <spatial name="T0_0_1" group="3">
            <site site="S0_1"/>
            <site site="S1_1"/>
        </spatial>
        <spatial name="T0_0_2" group="3">
            <site site="S0_2"/>
            <site site="S1_2"/>
        </spatial>
        <spatial name="T0_0_3" group="3">
            <site site="S0_3"/>
            <site site="S1_3"/>
        </spatial>
        <spatial name="T0_0_4" group="3">
            <site site="S0_4"/>
            <site site="S1_4"/>
        </spatial>
        <spatial name="T0_0_5" group="3">
            <site site="S0_5"/>
            <site site="S1_5"/>
        </spatial>
        <spatial name="T0_0_6" group="3">
            <site site="S0_6"/>
            <site site="S1_6"/>
        </spatial>
        <spatial name="T0_0_7" group="3">
            <site site="S0_7"/>
            <site site="S1_7"/>
        </spatial>
        <spatial name="T0_0_8" group="3">
            <site site="S0_8"/>
            <site site="S1_8"/>
        </spatial>
        <spatial name="T0_1_0" group="3">
            <site site="S1_0"/>
            <site site="S2_0"/>
        </spatial>
        <spatial name="T0_1_1" group="3">
            <site site="S1_1"/>
            <site site="S2_1"/>
        </spatial>
        <spatial name="T0_1_2" group="3">
            <site site="S1_2"/>
            <site site="S2_2"/>
        </spatial>
        <spatial name="T0_1_3" group="3">
            <site site="S1_3"/>
            <site site="S2_3"/>
        </spatial>
        <spatial name="T0_1_4" group="3">
            <site site="S1_4"/>
            <site site="S2_4"/>
        </spatial>
        <spatial name="T0_1_5" group="3">
            <site site="S1_5"/>
            <site site="S2_5"/>
        </spatial>
        <spatial name="T0_1_6" group="3">
            <site site="S1_6"/>
            <site site="S2_6"/>
        </spatial>
        <spatial name="T0_1_7" group="3">
            <site site="S1_7"/>
            <site site="S2_7"/>
        </spatial>
        <spatial name="T0_1_8" group="3">
            <site site="S1_8"/>
            <site site="S2_8"/>
        </spatial>
        <spatial name="T0_2_0" group="3">
            <site site="S2_0"/>
            <site site="S3_0"/>
        </spatial>
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