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                    <geom class="yam_visual" pos="0.171097 -0.124901 -0.037" quat="0.5 -0.5 -0.5 -0.5" material="yam_black" mesh="yam_model2__16" />
                    <geom class="yam_visual" pos="0.171097 -0.124901 -0.037" quat="0.5 -0.5 -0.5 -0.5" material="yam_black" mesh="yam_model2__17" />
                    <body name="yam_rf_rot" pos="0 0.0392 -0.037" quat="0.5 0.5 -0.5 -0.5" gravcomp="1">
                      <geom class="yam_collision" size="0.01 0.03" pos="0 -0.02 0.012" quat="0.707107 0 0.707107 0" rgba="0.381493 0.492734 0.780446 1" />
                      <geom class="yam_collision" size="0.01 0.02" pos="0.02 -0.01 0.032" quat="0.371391 0 -0.928477 0" rgba="0.381493 0.492734 0.780446 1" />
                      <body name="yam_rf_down" pos="0.044 0 0" gravcomp="1">
                        <geom class="yam_collision" size="0.01 0.01" pos="0 -0.02 0.012" quat="0.995037 -0.0995037 0 0" rgba="0.381493 0.492734 0.780446 1" />
                        <geom class="yam_collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" rgba="0.381493 0.492734 0.780446 1" />
                        <geom class="yam_collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="0.980581 -0.196116 0 0" rgba="0.381493 0.492734 0.780446 1" />
                        <geom class="yam_collision" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" type="box" rgba="0.381493 0.492734 0.780446 1" />
                        <geom class="yam_collision" size="0.006 0.002 0.039" pos="-0.027 -0.0024 0.053" quat="0.371391 0 -0.928477 0" type="box" rgba="0.381493 0.492734 0.780446 1" />
                        <geom class="yam_sphere_collision" pos="0.003 -0.0004 0.078" />
                        <geom class="yam_sphere_collision" pos="-0.003 -0.0004 0.078" />
                        <geom class="yam_sphere_collision" pos="0.003 -0.0004 0.07" />
                        <geom class="yam_sphere_collision" pos="-0.003 -0.0004 0.07" />
                        <geom class="yam_sphere_collision" pos="0.003 -0.0004 0.06" />
                        <geom class="yam_sphere_collision" pos="-0.003 -0.0004 0.06" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <equality>
    <joint joint1="yam_left_finger" joint2="yam_right_finger" polycoef="0 -1 0 0 0" />
  </equality>

  <actuator>
    <general name="ours_drive_output_0" joint="ours_output_0" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="ours_drive_output_1" joint="ours_output_1" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="ours_drive_output_2" joint="ours_output_2" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="ours_drive_output_3" joint="ours_output_3" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="ours_drive_output_4" joint="ours_output_4" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="ours_drive_output_5" joint="ours_output_5" ctrlrange="-1.74 1.74" biastype="affine" gainprm="40" biasprm="0 -40 -2" />
    <general name="yam_joint1" class="yam_dm4340" joint="yam_joint1" ctrlrange="-0.0456925 0.0533081" />
    <general name="yam_joint2" class="yam_dm4340" joint="yam_joint2" ctrlrange="0 0.0639696" />
    <general name="yam_joint3" class="yam_dm4340" joint="yam_joint3" ctrlrange="0 0.0639696" />
    <general name="yam_joint4" class="yam_dm4310" joint="yam_joint4" ctrlrange="-0.0274156 0.0274156" gainprm="20" biasprm="0 -20 -0.5" />
    <general name="yam_joint5" class="yam_dm4310" joint="yam_joint5" ctrlrange="-0.0274156 0.0274156" />
    <general name="yam_joint6" class="yam_dm4310" joint="yam_joint6" ctrlrange="-0.0365542 0.0365542" />
    <general name="yam_gripper" class="yam_finger" joint="yam_left_finger" />
  </actuator>

  <keyframe>
    <key name="yam_home" qpos="0 0 0 0 0 0 0 1.047 1.047 0 0 0 0 0" ctrl="0 0 0 0 0 0 0 1.047 1.047 0 0 0 0" />
  </keyframe>
<compiler meshdir="." texturedir="." /></mujoco>