add i2rt yam

manipulators/i2rt_yam/assets/model2.stl

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+oid sha256:5ac61c0313ed00c38655e41681af1b8b307cf8d5ef57209a75f215cea02df754
+size 524284

manipulators/i2rt_yam/assets/model2__10.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b879cc07f547b7a2ac52e428dd206e80a0d4b0e805cb56b9a8230df04a690923
+size 524284

manipulators/i2rt_yam/assets/model2__11.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:af220d2a51e8444392aef36e2fe4a6f69aed22bc292a7f38e54da3b4f5253434
+size 248584

manipulators/i2rt_yam/assets/model2__12.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e79614869bd2283f70fafa150ce748d5b6c03377a651448c6fe9893a22f6d1de
+size 68084

manipulators/i2rt_yam/assets/model2__13.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:32b62f14f00ea82bfc79b935f7dac32c7cb276a3abc0aae8362cbba3fb1326de
+size 524284

manipulators/i2rt_yam/assets/model2__14.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:72d2178789dd5e0358c2caf9dad90b8881e505f4c52a8d6d18c71b5e93e8c84b
+size 524284

manipulators/i2rt_yam/assets/model2__15.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ca8788184d54f30c18482cb9b48dffb010a93dbc029054b6cc515083a740d324
+size 183684

manipulators/i2rt_yam/assets/model2__16.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:18bb99691eed524393e8f3a0ff29e79d97ab75689bc92144bbdfafa2cc79d37b
+size 183684

manipulators/i2rt_yam/assets/model2__17.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6513dbd192d2bf3a4f7016231f1ba5eca93916c9ebfdc334e9b435ca1d302ff6
+size 524284

manipulators/i2rt_yam/assets/model2__2.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:30dab41f14bae95d737abca3c934eb5d570ab107dff0b40952fbdfb9d07eab79
+size 524284

manipulators/i2rt_yam/assets/model2__3.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9fd96f5ad387fe7dd96eaa65e386637800e2f5637b6167fbad4ecb37d8598f47
+size 80684

manipulators/i2rt_yam/assets/model2__4.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:33c0e7ef538e2c4473efa9c4ef2a8441b6094b65090b4dec71abe82001d974df
+size 80684

manipulators/i2rt_yam/assets/model2__5.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:09f08e7dead2d6363618471adadb1b94af39e8056676670f3fd21ec06c197b20
+size 524284

manipulators/i2rt_yam/assets/model2__6.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:888b5919d10dbfb59b964c3cafc2ddbdac3b5426e20dd13bcaf4baedd5ee15c9
+size 86284

manipulators/i2rt_yam/assets/model2__7.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2d64b18f1e70b0460eb53335d340b7c879976a3093ec67b07bcb7245e371a91d
+size 52084

manipulators/i2rt_yam/assets/model2__8.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:db3708da6b14daf3fc9a1909a8325b68f65ff69146cdd20b69a9ddc4ce51f50d
+size 524284

manipulators/i2rt_yam/assets/model2__9.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:74969d09b8b7f75cc984c5c7e5526d2941c6724f48b3efa1fa8730cc7820f4f5
+size 52084

manipulators/i2rt_yam/yam.xml

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+<mujoco model="yam_v0">
+  <compiler angle="radian" meshdir="assets"/>
+
+  <default>
+    <default class="yam">
+      <site group="5" size="0.005" rgba="0 1 0 1"/>
+      <joint axis="0 0 1"/>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+        <default class="sphere_collision">
+          <geom size="0.0006 0 0" type="sphere" rgba="1 0 0 1"/>
+        </default>
+      </default>
+      <default class="finger">
+        <joint type="slide"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material name="black" rgba="0.25 0.25 0.25 1"/>
+    <material name="white" rgba="0.9 0.9 0.9 1"/>
+
+    <mesh file="model2.stl"/>
+    <mesh file="model2__2.stl"/>
+    <mesh file="model2__3.stl"/>
+    <mesh file="model2__4.stl"/>
+    <mesh file="model2__5.stl"/>
+    <mesh file="model2__6.stl"/>
+    <mesh file="model2__7.stl"/>
+    <mesh file="model2__8.stl"/>
+    <mesh file="model2__9.stl"/>
+    <mesh file="model2__10.stl"/>
+    <mesh file="model2__11.stl"/>
+    <mesh file="model2__12.stl"/>
+    <mesh file="model2__13.stl"/>
+    <mesh file="model2__14.stl"/>
+    <mesh file="model2__15.stl"/>
+    <mesh file="model2__16.stl"/>
+    <mesh file="model2__17.stl"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="link_6" pos="0 0 1"/>
+    <body name="arm" childclass="yam">
+      <geom class="visual" pos="0 0 -0.0006" quat="1 0 0 1" mesh="model2"/>
+      <geom name="base_collision" class="collision" size="0.033 0.01" pos="0.0 0.0 0.026" quat="1 0 0 0"/>
+      <body name="link_1" pos="0 0 0.0631" quat="1 0 0 1">
+        <inertial pos="-0.00192861 -0.00795735 0.0208176" quat="0.297851 0.642634 0.360045 0.607185" mass="0.12415"
+          diaginertia="0.000180751 0.000145532 5.89179e-05"/>
+        <joint name="joint1" range="-2.61799 3.05433"/>
+        <geom class="visual" pos="5.26159e-07 2.34355e-07 -0.0632" quat="1 0 0 0" mesh="model2__2"/>
+        <body name="link_2" pos="2.5e-05 -0.02 0.0409" quat="1 1 1 1">
+          <inertial pos="0.132008 2.10599e-06 0.000293073" quat="1 1 1 1" mass="1.24434"
+            diaginertia="0.0121902 0.0121318 0.000683304"/>
+          <joint name="joint2" range="0 3.66519"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__3"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__4"/>
+          <geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__5" material="white"/>
+          <geom name="link2_1_collision" class="collision" size="0.032 0.11" pos="0.13 0 0" quat="1 0 1 0"/>
+          <geom name="link2_2_collision" class="collision" size="0.033 0.02" pos="0 0.0 0" quat="1 0 0 0"/>
+          <geom name="link2_3_collision" class="collision" size="0.033 0.025" pos="0.265 0 0" quat="1 0 0 0"/>
+          <body name="link_3" pos="0.264 0 0" quat="0 1 0 0">
+            <inertial pos="-0.121816 -0.054846 -0.000111108" quat="1 1 1 1" mass="0.853698"
+              diaginertia="0.00699732 0.00696112 0.000788244"/>
+            <joint name="joint3" range="0 3.66519"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__6"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__7"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__8" material="white"/>
+            <geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__9"/>
+            <geom name="link3_1_collision" class="collision" size="0.034 0.12" pos="-0.14 -0.06 0.0" quat="1 0 1 0"/>
+            <geom name="link3_2_collision" class="collision" size="0.034 0.015" pos="-0.24 -0.06 0.0" quat="1 0 0 0"/>
+            <body name="link_4" pos="-0.245 -0.06 0" quat="1 0 0 0">
+              <inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.667 0.667 -0.236 -0.236" mass="0.463511"
+                diaginertia="0.000791532 0.000744733 0.000282116"/>
+              <joint name="joint4" range="-1.5708 1.5708"/>
+              <geom class="visual" pos="0.00100023 0.164101 2.44738e-05" quat="1 1 1 -1" mesh="model2__10"/>
+              <geom name="link4_1_collision" class="collision" size="0.03 0.015" pos="-0.073 -0.06 0.0" quat="1 1 0 0"/>
+              <body name="link_5" pos="-0.074 -0.0395 2.5e-05" quat="1 -1 1 1">
+                <inertial pos="3.64861e-05 0.00025665 0.0353526" quat="1 0 0 0" mass="0.350962"
+                  diaginertia="0.000197802 0.0001775 0.000147402"/>
+                <joint name="joint5" range="-1.5708 1.5708"/>
+                <geom class="visual" pos="0 -0.0749971 0.203601" quat="1.32679e-06 1 0 0" mesh="model2__11"/>
+                <geom name="link5_1_collision" class="collision" size="0.030 0.015" pos="0 0.025 0.0395" quat="1 1 0 0"/>
+                <body name="link_6" pos="0 0.0353 0.0395" quat="1 -1 0 0">
+                  <inertial pos="-0.000217767 7.37059e-05 0.0270545" quat="1 1 0 0" mass="0.367476"
+                    diaginertia="0.000265958 0.000242686 0.000227409"/>
+                  <joint name="joint6" range="-2.0944 2.0944"/>
+                  <geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__12"/>
+                  <geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__13"/>
+                  <geom name="link6_1_collision" class="collision" size="0.01 0.035" pos="0 0.039 0.052" quat="1 0 1 0"/>
+                  <geom name="link6_2_collision" class="collision" size="0.030 0.005" pos="0 0.0 0.03" quat="1 0 0 1"/>
+                  <geom name="link6_3_collision" class="collision" size="0.01 0.035" pos="0 -0.039 0.052" quat="1 0 1 0"/>
+                  <site name="tcp_site" quat="1 0 0 -1"/>
+                  <site name="grasp_site" pos="0 -0.03 0.1247" quat="1 0 0 -1"/>
+                  <body name="link_left_finger" pos="-0.037 0.0392 0.0605" quat="1 0 1 0">
+                    <inertial pos="-0.0192995 -0.0365902 0.039774" quat="0.757351 0.568898 -0.3199 0.0" mass="0.118"
+                      diaginertia="0.000159084 0.000154909 4.63655e-05"/>
+                    <joint class="finger" name="left_finger" range="-0.00205 0.037524"/>
+                    <geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__14"/>
+                    <geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__15"/>
+                    <body name="lf_rot" quat="1 -1 -1 1" pos="0.0 -0.0392 0.037">
+                      <geom name="lf_rot1_collision" class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012"
+                        quat="1 0 1 0" rgba="0.381493 0.492734 0.780446 1"/>
+                      <geom name="lf_rot2_collision" class="collision" size="0.01 0.02" pos="-0.02 -0.01 0.032"
+                        quat="1 0 2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
+                      <body name="lf_down" quat="1 0 0 0" pos="-0.044 0.0 0.0">
+                        <geom name="lf_down1_collision" class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012"
+                          quat="1 -0.1 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="lf_down2_collision" class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04"
+                          quat="1 -0.2 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="lf_down3_collision" class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04"
+                          quat="1 -0.2 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="lf_down4_collision" class="collision" type="box" size="0.006 0.002 0.04"
+                          pos="0 -0.0024 0.046" quat="1 0 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="lf_down5_collision" class="collision" type="box" size="0.006 0.002 0.039"
+                          pos="0.027 -0.0024 0.053" quat="1 0 2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="lf_down6_collision" class="sphere_collision" pos="0.003  -0.0004 0.078"/>
+                        <geom name="lf_down7_collision" class="sphere_collision" pos="-0.003 -0.0004 0.078"/>
+                        <geom name="lf_down8_collision" class="sphere_collision" pos="0.003  -0.0004 0.07"/>
+                        <geom name="lf_down9_collision" class="sphere_collision" pos="-0.003 -0.0004 0.07"/>
+                        <geom name="lf_down10_collision" class="sphere_collision" pos="0.003  -0.0004 0.06"/>
+                        <geom name="lf_down11_collision" class="sphere_collision" pos="-0.003 -0.0004 0.06"/>
+                      </body>
+                    </body>
+                  </body>
+                  <body name="link_right_finger" pos="0.037 -0.0392 0.0605" quat="1 0 1 0">
+                    <inertial pos="-0.0192995 0.0365902 -0.039774" quat="-0.757351 0.568898 -0.3199 0" mass="0.118"
+                      diaginertia="0.000159084 0.000154909 4.63655e-05"/>
+                    <joint class="finger" name="right_finger" range="-0.037524 0.00205"/>
+                    <geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__16"/>
+                    <geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__17"/>
+                    <body name="rf_rot" quat="1 1 -1 -1" pos="0.0 0.0392 -0.037">
+                      <geom name="rf_rot1_collision" class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012"
+                        quat="1 0 1 0" rgba="0.381493 0.492734 0.780446 1"/>
+                      <geom name="rf_rot2_collision" class="collision" size="0.01 0.02" pos="0.02 -0.01 0.032"
+                        quat="1 0 -2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
+                      <body name="rf_down" quat="1 0 0 0" pos="0.044 0.0 0.0">
+                        <geom name="rf_down1_collision" class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012"
+                          quat="1 -0.1 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="rf_down2_collision" class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04"
+                          quat="1 -0.2 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="rf_down3_collision" class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04"
+                          quat="1 -0.2 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="rf_down4_collision" class="collision" type="box" size="0.006 0.002 0.04"
+                          pos="0 -0.0024 0.046" quat="1 0 0 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="rf_down5_collision" class="collision" type="box" size="0.006 0.002 0.039"
+                          pos="-0.027 -0.0024 0.053" quat="1 0 -2.5 0" rgba="0.381493 0.492734 0.780446 1"/>
+                        <geom name="rf_down6_collision" class="sphere_collision" pos="0.003 -0.0004 0.078"/>
+                        <geom name="rf_down7_collision" class="sphere_collision" pos="-0.003 -0.0004 0.078"/>
+                        <geom name="rf_down8_collision" class="sphere_collision" pos="0.003  -0.0004 0.07"/>
+                        <geom name="rf_down9_collision" class="sphere_collision" pos="-0.003 -0.0004 0.07"/>
+                        <geom name="rf_down10_collision" class="sphere_collision" pos="0.003 -0.0004 0.06"/>
+                        <geom name="rf_down11_collision" class="sphere_collision" pos="-0.003 -0.0004 0.06"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <equality>
+    <joint joint1="left_finger" joint2="right_finger" polycoef="0 -1 0 0 0"/>
+  </equality>
+</mujoco>