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                        <joint name="hdt_drive4_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="70" />
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                                    <joint name="hdt_pincer_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-0.2 0.9" damping="15" />
                                    <geom name="pincer_link1" quat="0 1 0 0" type="mesh" mesh="H022927 - A35 PINCER FINGER, LONG, OVERMOLD ASSY - SHAREABLE" />
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                                    <inertial pos="0.0607647 0.00559547 -3.99908e-06" quat="0.0177323 0.706938 -0.0180733 0.706822" mass="0.0659882" diaginertia="0.00012599 0.000120886 7.08563e-06" />
                                    <joint name="hdt_pincer_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-0.2 1" damping="7" />
                                    <geom name="pincer_link2" quat="0 1 0 0" type="mesh" mesh="H022927 - A35 PINCER FINGER, LONG, OVERMOLD ASSY - SHAREABLE" />
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</mujoco>
