<mujoco model="two_servo">
  <compiler angle="radian" meshdir="./" />
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    <mesh name="yoke_fillet" content_type="model/stl" file="yoke_fillet.stl" scale="0.001 0.001 0.001" />
    <mesh name="holder_fillet" content_type="model/stl" file="holder_fillet.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_beauty_1" content_type="model/stl" file="connector_beauty_1.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_beauty_2" content_type="model/stl" file="connector_beauty_2.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_beauty_3" content_type="model/stl" file="connector_beauty_3.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_beauty_4" content_type="model/stl" file="connector_beauty_4.stl" scale="0.001 0.001 0.001" />
    <mesh name="connector_beauty_5" content_type="model/stl" file="connector_beauty_5.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_holder" content_type="model/stl" file="gnode_v2_holder.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_enpire_fixed" content_type="model/stl" file="gnode_v2_enpire_fixed.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_fixed_riser" content_type="model/stl" file="gnode_v2_fixed_riser.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_fixed_plate" content_type="model/stl" file="gnode_v2_fixed_plate.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_handle_column" content_type="model/stl" file="gnode_v2_handle_column.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_cam_conn_arm" content_type="model/stl" file="gnode_v2_cam_conn_arm.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_mount_arm" content_type="model/stl" file="gnode_v2_camera_mount_arm.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_body" content_type="model/stl" file="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_cover_arm" content_type="model/stl" file="gnode_v2_camera_cover_arm.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_yoke" content_type="model/stl" file="gnode_v2_yoke.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_yoke_conn" content_type="model/stl" file="gnode_v2_yoke_conn.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_enpire_moving" content_type="model/stl" file="gnode_v2_enpire_moving.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_thumb_cradle" content_type="model/stl" file="gnode_v2_thumb_cradle.stl" scale="0.001 0.001 0.001" />
    <texture name="armboard" type="2d" file="aruco_arm_base_grid.png" />
    <material name="armboard" texture="armboard" />
    <mesh name="aruco_plane80" file="aruco_plane.obj" scale="0.26667 0.26667 0.001" inertia="shell" />
    <texture name="floor" type="2d" builtin="checker" rgb1="0.22 0.27 0.32" rgb2="0.16 0.2 0.24" width="300" height="300" />
    <material name="floor" texture="floor" texuniform="true" texrepeat="4 4" />
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                <camera name="wrist_cam" pos="-0.0503 -0.1039 0.0050" xyaxes="0.0000 0.0000 1.0000 -0.3401 -0.9404 0.0000" fovy="47" />
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        </body>
      </body>
    </body>
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    <geom type="mesh" mesh="aruco_plane80" material="armboard" pos="0.0380 0.1400 0.0047" contype="0" conaffinity="0" />
    <light pos="0.4 0.4 1.0" dir="-0.3 -0.3 -1" />
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  <visual>
    <global offwidth="1600" offheight="1200" />
    <headlight ambient="0.45 0.45 0.45" />
  </visual>
  <actuator>
    <position joint="output_0" kp="40" kv="2" ctrlrange="-1.74 1.74" name="output_0" />
    <position joint="output_1" kp="40" kv="2" ctrlrange="-1.74 1.74" name="output_1" />
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    <position joint="gripper_jaw" kp="5" kv="0.4" ctrlrange="-0.9 0.1" name="gripper_jaw" />
  </actuator>
</mujoco>