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2149 2116 2117 2150 2117 2151 2150 2117 2118 2151 2118 2152 2151 2118 2119 2152 2119 2153 2152 2119 2120 2153 2120 2154 2153 2120 2121 2154 2121 2155 2154 2121 2122 2155 2122 2156 2155 2122 2123 2156 2123 2157 2156 2123 2124 2157 2124 2158 2157 2124 2125 2158 2125 2159 2158 2125 2126 2159 2126 2160 2159 2126 2127 2160 2127 2161 2160 2127 2128 2161 2128 2162 2161 2128 2129 2162 2129 2163 2162 2129 2130 2163 2130 2164 2163 2130 2131 2164 2131 2165 2164 2131 2132 2165 2132 2166 2165 2132 2133 2166 2133 2167 2166 2133 2134 2167 2134 2168 2167 2134 2135 2168 2135 2169 2168 2135 2136 2169 2136 2170 2169 2136 2137 2170 2137 2171 2170 2137 2138 2171 2138 2172 2171 2138 2139 2172 2139 2173 2172 2139 2140 2173 2140 2174 2173 2140 2141 2174 2141 2175 2174 2141 2142 2175 2142 2176 2175 2142 2143 2176 2143 2177 2176 2143 2144 2177 0 1122 33 0 1089 1122 33 1155 66 33 1122 1155 66 1188 99 66 1155 1188 99 1221 132 99 1188 1221 132 1254 165 132 1221 1254 165 1287 198 165 1254 1287 198 1320 231 198 1287 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                                                    <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 0.063" quat="0.707107 0 0 0.707107">
                                                        <inertial pos="0 0 0.063" quat="0.707107 0 0 0.707107" mass="0" diaginertia="0 0 0"/>
                                                        <geom name="finger1_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="finger_plastic"/>
                                                    </body>
                                                    <body name="rightfinger" pos="0 0 0.063" quat="0.707107 0 0 0.707107">
                                                        <inertial pos="0 0 0.063" quat="0.707107 0 0 0.707107" mass="0" diaginertia="0 0 0"/>
                                                        <geom name="finger2_visual" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="finger_plastic"/>
                                                    </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="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_0_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_1_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_2_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_3_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_4_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_5_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_6_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T0_7_8" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_0_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_1_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_2_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_3_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_4_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_5_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_6_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_7_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_0" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_1" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_2" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_3" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_4" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_5" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_6" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="T1_8_7" polycoef="0 1 0 0 0" solref="0.0353726 0.989071" solimp="0.994136 0.995924 0.0138455 0.5 2"/>
        <tendon tendon1="TS0_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS0_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS1_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS2_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS3_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS4_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS5_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS6_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_0" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_1" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_2" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_3" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_4" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_5" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_6" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 0.5 2"/>
        <tendon tendon1="TS7_7" polycoef="0 1 0 0 0" solref="0.0464839 1.0139" solimp="0.993282 0.99314 0.0166513 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>
        <spatial name="T0_2_1" group="3">
            <site site="S2_1"/>
            <site site="S3_1"/>
        </spatial>
        <spatial name="T0_2_2" group="3">
            <site site="S2_2"/>
            <site site="S3_2"/>
        </spatial>
        <spatial name="T0_2_3" group="3">
            <site site="S2_3"/>
            <site site="S3_3"/>
        </spatial>
        <spatial name="T0_2_4" group="3">
            <site site="S2_4"/>
            <site site="S3_4"/>
        </spatial>
        <spatial name="T0_2_5" group="3">
            <site site="S2_5"/>
            <site site="S3_5"/>
        </spatial>
        <spatial name="T0_2_6" group="3">
            <site site="S2_6"/>
            <site site="S3_6"/>
        </spatial>
        <spatial name="T0_2_7" group="3">
            <site site="S2_7"/>
            <site site="S3_7"/>
        </spatial>
        <spatial name="T0_2_8" group="3">
            <site site="S2_8"/>
            <site site="S3_8"/>
        </spatial>
        <spatial name="T0_3_0" group="3">
            <site site="S3_0"/>
            <site site="S4_0"/>
        </spatial>
        <spatial name="T0_3_1" group="3">
            <site site="S3_1"/>
            <site site="S4_1"/>
        </spatial>
        <spatial name="T0_3_2" group="3">
            <site site="S3_2"/>
            <site site="S4_2"/>
        </spatial>
        <spatial name="T0_3_3" group="3">
            <site site="S3_3"/>
            <site site="S4_3"/>
        </spatial>
        <spatial name="T0_3_4" group="3">
            <site site="S3_4"/>
            <site site="S4_4"/>
        </spatial>
        <spatial name="T0_3_5" group="3">
            <site site="S3_5"/>
            <site site="S4_5"/>
        </spatial>
        <spatial name="T0_3_6" group="3">
            <site site="S3_6"/>
            <site site="S4_6"/>
        </spatial>
        <spatial name="T0_3_7" group="3">
            <site site="S3_7"/>
            <site site="S4_7"/>
        </spatial>
        <spatial name="T0_3_8" group="3">
            <site site="S3_8"/>
            <site site="S4_8"/>
        </spatial>
        <spatial name="T0_4_0" group="3">
            <site site="S4_0"/>
            <site site="S5_0"/>
        </spatial>
        <spatial name="T0_4_1" group="3">
            <site site="S4_1"/>
            <site site="S5_1"/>
        </spatial>
        <spatial name="T0_4_2" group="3">
            <site site="S4_2"/>
            <site site="S5_2"/>
        </spatial>
        <spatial name="T0_4_3" group="3">
            <site site="S4_3"/>
            <site site="S5_3"/>
        </spatial>
        <spatial name="T0_4_4" group="3">
            <site site="S4_4"/>
            <site site="S5_4"/>
        </spatial>
        <spatial name="T0_4_5" group="3">
            <site site="S4_5"/>
            <site site="S5_5"/>
        </spatial>
        <spatial name="T0_4_6" group="3">
            <site site="S4_6"/>
            <site site="S5_6"/>
        </spatial>
        <spatial name="T0_4_7" group="3">
            <site site="S4_7"/>
            <site site="S5_7"/>
        </spatial>
        <spatial name="T0_4_8" group="3">
            <site site="S4_8"/>
            <site site="S5_8"/>
        </spatial>
        <spatial name="T0_5_0" group="3">
            <site site="S5_0"/>
            <site site="S6_0"/>
        </spatial>
        <spatial name="T0_5_1" group="3">
            <site site="S5_1"/>
            <site site="S6_1"/>
        </spatial>
        <spatial name="T0_5_2" group="3">
            <site site="S5_2"/>
            <site site="S6_2"/>
        </spatial>
        <spatial name="T0_5_3" group="3">
            <site site="S5_3"/>
            <site site="S6_3"/>
        </spatial>
        <spatial name="T0_5_4" group="3">
            <site site="S5_4"/>
            <site site="S6_4"/>
        </spatial>
        <spatial name="T0_5_5" group="3">
            <site site="S5_5"/>
            <site site="S6_5"/>
        </spatial>
        <spatial name="T0_5_6" group="3">
            <site site="S5_6"/>
            <site site="S6_6"/>
        </spatial>
        <spatial name="T0_5_7" group="3">
            <site site="S5_7"/>
            <site site="S6_7"/>
        </spatial>
        <spatial name="T0_5_8" group="3">
            <site site="S5_8"/>
            <site site="S6_8"/>
        </spatial>
        <spatial name="T0_6_0" group="3">
            <site site="S6_0"/>
            <site site="S7_0"/>
        </spatial>
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        <general name="torq_j2" joint="joint2"/>
        <general name="torq_j3" joint="joint3"/>
        <general name="torq_j4" joint="joint4"/>
        <general name="torq_j5" joint="joint5"/>
        <general name="torq_j6" joint="joint6"/>
        <general name="torq_j7" joint="joint7"/>
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