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                <body name="left_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                  <inertial diaginertia="0.0132096 0.00950002 0.00685697" mass="2.07206" pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" />
                  <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_e1" pos="0 0 0" range="-0.05 2.618" type="hinge" />
                  <geom class="viz" margin="0.001" mesh="E1" rgba="0.5 0.1 0.1 1" />
                  <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                  <body name="left_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                    <inertial diaginertia="0.016916 0.0165511 0.00371123" mass="2.24665" pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" />
                    <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w0" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                    <geom class="viz" margin="0.001" mesh="W0" rgba="0.5 0.1 0.1 1" />
                    <geom margin="0.001" pos="0 0 -0.044" rgba="0.5 0.1 0.1 1" size="0.06 0.044" type="cylinder" />
                    <geom class="viz" margin="0.001" name="left_upper_forearm_visual" pos="0 0 0.136" size="0.06 0.136" type="cylinder" />
                    <body name="left_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                      <inertial diaginertia="0.00708828 0.00552689 0.00379383" mass="1.60979" pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" />
                      <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w1" pos="0 0 0" range="-1.5708 2.094" type="hinge" />
                      <geom class="viz" margin="0.001" mesh="W1" rgba="0.5 0.1 0.1 1" />
                      <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                      <body name="left_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                        <inertial diaginertia="0.0003082 0.000269928 0.000251035" mass="0.35093" pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" />
                        <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w2" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                        <geom class="viz" margin="0.001" mesh="W2" rgba="0.1 0.1 0.1 1" />
                        <geom margin="0.001" pos="0 0 0" rgba="0.1 0.1 0.1 1" size="0.06 0.0825" type="cylinder" />
                        <body name="left_hand" pos="0 0 0.11355">
				
                        <inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
        <geom size="1e-08 5e-09" type="cylinder" />
        <body name="left_gripper_base" pos="0 0 0.025">
            <inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
            <geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
            <geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
            <body name="left_gripper" pos="0 0 0.095">
                <inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
                
                <site group="1" name="l_g_grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
                
                <site group="1" name="l_g_grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.1" size="0.005 10" type="cylinder" />
            </body>
            
            
            <body name="l_gripper_l_finger" pos="0 0.01 0.02">
                <inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
                

                

                

                
                <joint axis="0 1 0" damping="100" limited="true" name="l_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />

                <geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="l_gripper_l_finger" quat="0 0 0 -1" type="mesh" />

                
                

                
                <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
                <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />

                <body name="l_gripper_l_finger_tip" pos="0 0.01725 0.075">
                    <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
                    <geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />

                    
                    

                    
                    <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />

                    
                    

                    
                    

                </body>
            </body>
            
            
            <body name="l_gripper_r_finger" pos="0 -0.01 0.02">
                <inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
                

                

                

                
                <joint axis="0 1 0" damping="100" limited="true" name="l_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />

                <geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="l_gripper_r_finger" type="mesh" />

                
                

                
                <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
                <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />


                <body name="l_gripper_r_finger_tip" pos="0 -0.01725 0.075">
                    <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
                    <geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />

                    
                    

                    
                    <geom conaffinity="1" contype="0" friction="0 0 0" name="l_g_r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />

                    
                    

                    
                    

                </body>
            </body>
        </body>
    </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  <body name="pot" pos="0.785321224395939 -0.005383322155237463 0.8700000000000001" quat="0.9999608609803367 0 0 0.008847401170047911"><geom group="1" pos="0 0 -0.05750000000000001" rgba="1 0 0 1" size="0.07 0.07 0.0125" type="box" /><geom group="1" pos="0 -0.05750000000000001 0" rgba="1 0 0 1" size="0.07 0.0125 0.07" type="box" /><geom group="1" pos="0 0.05750000000000001 0" rgba="1 0 0 1" size="0.07 0.0125 0.07" type="box" /><geom group="1" pos="0.05750000000000001 0 0" rgba="1 0 0 1" size="0.0125 0.07 0.07" type="box" /><geom group="1" pos="-0.05750000000000001 0 0" rgba="1 0 0 1" size="0.0125 0.07 0.07" type="box" /><body name="handle_1"><geom group="1" name="handle_1_c" pos="0 0.16 0.060000000000000005" rgba="0 1 0 1" size="0.055 0.01 0.01" type="box" /><geom group="1" name="handle_1_+" pos="0.045 0.115 0.060000000000000005" rgba="0 1 0 1" size="0.01 0.045 0.01" type="box" /><geom group="1" name="handle_1_-" pos="-0.045 0.115 0.060000000000000005" rgba="0 1 0 1" size="0.01 0.045 0.01" type="box" /></body><body name="handle_2"><geom group="1" name="handle_2_c" pos="0 -0.16 0.060000000000000005" rgba="0 0 1 1" size="0.055 0.01 0.01" type="box" /><geom group="1" name="handle_2_+" pos="0.045 -0.115 0.060000000000000005" rgba="0 0 1 1" size="0.01 0.045 0.01" type="box" /><geom group="1" name="handle_2_-" pos="-0.045 -0.115 0.060000000000000005" rgba="0 0 1 1" size="0.01 0.045 0.01" type="box" /></body><site name="pot_handle_1" pos="0.0 0.155 0.060000000000000005" rgba="0 1 0 1" size="0.005" /><site name="pot_handle_2" pos="0.0 -0.155 0.060000000000000005" rgba="0 0 1 1" size="0.005" /><site name="pot_center" pos="0 0 0" rgba="1 0 0 0" size="0.005" /><joint name="pot" type="free" /></body></worldbody>

	<equality>
	</equality>
<contact><exclude body1="right_upper_shoulder" body2="torso" />
    <exclude body1="right_upper_shoulder" body2="right_upper_elbow" />
    <exclude body1="right_lower_shoulder" body2="torso" />
    <exclude body1="left_upper_shoulder" body2="torso" />
    <exclude body1="left_upper_shoulder" body2="left_upper_elbow" />
    <exclude body1="left_lower_shoulder" body2="torso" />
    <exclude body1="collision_head_link_1" body2="torso" />
    <exclude body1="collision_head_link_2" body2="torso" />
  </contact><default><default class="viz">
      <geom conaffinity="0" contype="0" group="1" margin="0.001" type="mesh" />
    </default>
  </default></mujoco>