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        <mesh file="/home/zhimin/code/5_thu/rl-robotic-assembly-control/envs/robosuite/robosuite/models/assets/grippers/meshes/jaco_three_finger_gripper/finger_proximal.stl"
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        <mesh file="/home/zhimin/code/5_thu/rl-robotic-assembly-control/envs/robosuite/robosuite/models/assets/grippers/meshes/jaco_three_finger_gripper/finger_distal.stl"
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    <actuator>
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        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_2" name="robot0_torq_j2"/>
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        <motor ctrllimited="true" ctrlrange="-30.5 30.5" joint="robot0_j2s7s300_joint_5" name="robot0_torq_j5"/>
        <motor ctrllimited="true" ctrlrange="-6.8 6.8" joint="robot0_j2s7s300_joint_6" name="robot0_torq_j6"/>
        <motor ctrllimited="true" ctrlrange="-6.8 6.8" joint="robot0_j2s7s300_joint_7" name="robot0_torq_j7"/>
<!--        <position ctrllimited="true" ctrlrange="0 1.51" forcelimited="true" forcerange="-0.3 0.3"-->
<!--                  joint="gripper0_joint_thumb" kp="20" name="gripper0_thumb"/>-->
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<!--                  joint="gripper0_joint_index" kp="20" name="gripper0_index"/>-->
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<!--                  joint="gripper0_joint_pinky" kp="20" name="gripper0_pinky"/>-->
    </actuator>

    <worldbody>
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        <camera mode="fixed" name="birdview" pos="-0.2 0.0 3.0" quat="0.7071 0 0 0.7071"/>

        <camera mode="fixed" name="agentview" pos="1.0 0.0 1.75" quat="0.653 0.271 0.271 0.653"/>

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                                            <body name="robot0_right_hand" pos="0 0 0" quat="0 1 0 0">

                                                <camera fovy="75" mode="fixed" name="robot0_eye_in_hand" pos="0.08 0 0"
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                                                <body name="gripper0_right_gripper" pos="0 0 0">
                                                    <inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-6" pos="0 0 0"/>
                                                    <body name="gripper0_palm" pos="0 0 0" quat="0 -1 0 0">
                                                        <inertial diaginertia="0.0005816 0.000345324 0.000345324"
                                                                  mass="0.99" pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5"/>
                                                        <geom conaffinity="0" contype="0" group="1"
                                                              material="gripper0_carbon_hand"
                                                              mesh="gripper0_hand_3finger" name="gripper0_hand_visual"
                                                              type="mesh"/>
                                                        <geom conaffinity="0" contype="0" group="1"
                                                              material="gripper0_grey_plastic_hand"
                                                              mesh="gripper0_ring_small"
                                                              name="gripper0_hand_ring_visual" type="mesh"/>
                                                        <geom group="0" mesh="gripper0_hand_3finger"
                                                              name="gripper0_hand_collision" rgba="0 0 0.5 0.1"
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                                                        <site group="1" name="gripper0_ft_frame" pos="0 0 0"
                                                              rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere"/>

                                                        <body name="gripper0_eef" pos="0 0 -0.1775"
                                                              quat="0 0.707105 0.707108 0 ">
                                                            <site group="1" name="gripper0_grip_site" pos="0 0 0"
                                                                  rgba="1 0 0 0.5" size="0.01 0.01 0.01" type="sphere"/>
<!--                                                            <site group="1" name="gripper0_ee_x" pos="0.1 0 0"-->
<!--                                                                  quat="0.707105  0 0.707108 0 " rgba="1 0 0 0"-->
<!--                                                                  size="0.005 .1" type="cylinder"/>-->
<!--                                                            <site group="1" name="gripper0_ee_y" pos="0 0.1 0"-->
<!--                                                                  quat="0.707105 0.707108 0 0" rgba="0 1 0 0"-->
<!--                                                                  size="0.005 .1" type="cylinder"/>-->
<!--                                                            <site group="1" name="gripper0_ee_z" pos="0 0 0.1"-->
<!--                                                                  quat="1 0 0 0" rgba="0 0 1 0" size="0.005 .1"-->
<!--                                                                  type="cylinder"/>-->

<!--                                                            <site group="1" name="gripper0_grip_site_cylinder"-->
<!--                                                                  pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10"-->
<!--                                                                  type="cylinder"/>-->
                                                        </body>
                                                    </body>

                                                    <body name="gripper0_thumb_proximal"
                                                          pos="0.002786 -0.03126 0.114668"
                                                          quat="0.95922726  0.262085 0.02762996 -0.10213274">
                                                        <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
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                                                        <joint axis="1 0 0" damping="0.15" limited="true"
                                                               name="gripper0_joint_thumb" pos="0 0 0" range="0 1.51"
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                                                        <geom conaffinity="0" contype="0" euler="0 -1.5707 0" group="1"
                                                              material="gripper0_grey_plastic_hand"
                                                              mesh="gripper0_finger_proximal"
                                                              name="gripper0_thumb_proximal_visual" type="mesh"/>
                                                        <geom euler="0 -1.5707 0" friction="1 0.5 0.01" group="0"
                                                              mesh="gripper0_finger_proximal"
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                                                              type="mesh"/>

                                                        <body name="gripper0_thumb_distal" pos="0 -0.003 0.044">
                                                            <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
                                                                      mass="0.01" pos="0.022 0 0"/>
                                                            <joint axis="-1 0 0" damping="0.1" limited="true"
                                                                   name="gripper0_joint_thumb_distal" pos="0 0 0"
                                                                   range="0 2" ref="-0.5"/>
                                                            <geom conaffinity="0" contype="0" euler="0 -1.5707 0"
                                                                  group="1" material="gripper0_grey_plastic_hand"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_thumb_distal_visual" type="mesh"/>
                                                            <geom euler="0 -1.5707 0" friction="1 0.5 0.01" group="0"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_thumb_distal_collision"
                                                                  rgba="0 0 0.5 0.1" type="mesh"/>
                                                            <geom friction="2 0.05 0.001" group="0"
                                                                  name="gripper0_thumb_tip_collision"
                                                                  pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.01 0.005 0.02"
                                                                  solref="0.01 0.25" type="box"/>
                                                            <geom group="0" name="gripper0_thumb_pad_collision"
                                                                  pos="0 0.0015 0.023" quat="0.9914449 0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.008 0.001 0.018" type="box"/>
                                                        </body>
                                                    </body>

                                                    <body name="gripper0_index_proximal"
                                                          pos="0.022256 0.027073 0.114668"
                                                          quat="0.96181018 -0.25771638 0.0238668 -0.08907205">
                                                        <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
                                                                  mass="0.01" pos="0.022 0 0"/>
                                                        <joint axis="-1 0 0" damping="0.15" limited="true"
                                                               name="gripper0_joint_index" pos="0 0 0" range="0 1.51"
                                                               ref="1.1"/>
                                                        <geom conaffinity="0" contype="0" group="1"
                                                              material="gripper0_grey_plastic_hand"
                                                              mesh="gripper0_finger_proximal"
                                                              name="gripper0_index_proximal_visual"
                                                              quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                              type="mesh"/>
                                                        <geom friction="1 0.5 0.01" group="0"
                                                              mesh="gripper0_finger_proximal"
                                                              name="gripper0_index_proximal_collision"
                                                              quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                              rgba="0 0 0.5 0.1" type="mesh"/>

                                                        <body name="gripper0_index_distal" pos="0 0.003 0.044">
                                                            <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
                                                                      mass="0.01" pos="0.022 0 0"/>
                                                            <joint axis="1 0 0" damping="0.1" limited="true"
                                                                   name="gripper0_joint_index_distal" pos="0 0 0"
                                                                   range="0 2" ref="-0.5"/>
                                                            <geom conaffinity="0" contype="0" group="1"
                                                                  material="gripper0_grey_plastic_hand"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_index_distal_visual"
                                                                  quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                                  type="mesh"/>
                                                            <geom friction="1 0.5 0.01" group="0"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_index_distal_collision"
                                                                  quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                                  rgba="0 0 0.5 0.1" type="mesh"/>
                                                            <geom friction="2 0.05 0.001" group="0"
                                                                  name="gripper0_index_tip_collision"
                                                                  pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.01 0.005 0.02"
                                                                  solref="0.01 0.25" type="box"/>
                                                            <geom group="0" name="gripper0_index_pad_collision"
                                                                  pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.008 0.001 0.018" type="box"/>
                                                        </body>
                                                    </body>

                                                    <body name="gripper0_pinky_proximal"
                                                          pos="-0.022256 0.027073 0.114816"
                                                          quat="0.96181018 -0.25771638 -0.0238668 0.08907205">
                                                        <joint axis="-1 0 0" damping="0.15" limited="true"
                                                               name="gripper0_joint_pinky" pos="0 0 0" range="0 1.51"
                                                               ref="1.1"/>
                                                        <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
                                                                  mass="0.01" pos="0.022 0 0"/>
                                                        <geom conaffinity="0" contype="0" group="1"
                                                              material="gripper0_grey_plastic_hand"
                                                              mesh="gripper0_finger_proximal"
                                                              name="gripper0_pinky_proximal_visual"
                                                              quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                              type="mesh"/>
                                                        <geom friction="1 0.5 0.01" group="0"
                                                              mesh="gripper0_finger_proximal"
                                                              name="gripper0_pinky_proximal_collision"
                                                              quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                              rgba="0 0 0.5 0.1" type="mesh"/>

                                                        <body name="gripper0_pinky_distal" pos="0 0.003 0.044">
                                                            <inertial diaginertia="7.89997e-07 7.89997e-07 8e-08"
                                                                      mass="0.01" pos="0.022 0 0"/>
                                                            <joint axis="1 0 0" damping="0.1" limited="true"
                                                                   name="gripper0_joint_pinky_distal" pos="0 0 0"
                                                                   range="0 2" ref="-0.5"/>
                                                            <geom conaffinity="0" contype="0" group="1"
                                                                  material="gripper0_grey_plastic_hand"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_pinky_distal_visual"
                                                                  quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                                  type="mesh"/>
                                                            <geom friction="1 0.5 0.01" group="0"
                                                                  mesh="gripper0_finger_distal"
                                                                  name="gripper0_pinky_distal_collision"
                                                                  quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01"
                                                                  rgba="0 0 0.5 0.1" type="mesh"/>
                                                            <geom friction="2 0.05 0.001" group="0"
                                                                  name="gripper0_pinky_tip_collision"
                                                                  pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.01 0.005 0.02"
                                                                  solref="0.01 0.25" type="box"/>
                                                            <geom group="0" name="gripper0_pinky_pad_collision"
                                                                  pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0"
                                                                  rgba="0 0 0.5 0.1" size="0.008 0.001 0.018" type="box"/>
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="mount0_base" pos="0.0 0.0 0.01">
                <body name="mount0_controller_box" pos="0 0 0">
                    <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
                    <geom name="mount0_controller_box_col" pos="-0.325 0 -0.38" rgba="0.5 0.5 0 0.1" size="0.11 0.2 0.265"
                          type="box"/>
                </body>
                <body name="mount0_pedestal_feet" pos="0 0 0">
                    <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
                    <geom name="mount0_pedestal_feet_col" pos="-0.1225 0 -0.758" rgba="0.5 0.5 0 0.1"
                          size="0.385 0.35 0.155" type="box"/>
                </body>
                <body name="mount0_torso" pos="0 0 0">
                    <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
                    <geom conaffinity="0" contype="0" group="1" name="mount0_torso_vis" pos="0 0 -0.05"
                          rgba="0.2 0.2 0.2 0.1" size="0.05 0.05 0.05" type="box"/>
                </body>
                <body name="mount0_pedestal" pos="0 0 0">
                    <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0"
                              quat="0.659267 -0.259505 -0.260945 0.655692"/>
                    <geom conaffinity="0" contype="0" group="1" mesh="mount0_pedestal" name="mount0_pedestal_vis"
                          rgba="0.2 0.2 0.2 0.1" type="mesh"/>
                    <geom name="mount0_pedestal_col" pos="-0.02 0 -0.29" rgba="0.5 0.5 0 0.1" size="0.18 0.31"
                          type="cylinder"/>
                </body>
            </body>
        </body>
    </worldbody>

<!--    <equality>-->
<!--        <tendon name="gripper0_thumb_cpl" tendon1="gripper0_thumb_cpl"/>-->

<!--        <tendon name="gripper0_index_12_cpl" tendon1="gripper0_index_12_cpl"/>-->

<!--        <tendon name="gripper0_pinky_12_cpl" tendon1="gripper0_pinky_12_cpl"/>-->
<!--    </equality>-->
<!--    <sensor>-->
<!--        <force name="gripper0_force_ee" site="gripper0_ft_frame"/>-->
<!--        <torque name="gripper0_torque_ee" site="gripper0_ft_frame"/>-->
<!--    </sensor>-->
<!--    <tendon>-->
<!--        <fixed frictionloss="0.4" name="gripper0_thumb_cpl" range="-5 5" springlength="0.2" stiffness="3.0">-->
<!--            <joint coef="0.4" joint="gripper0_joint_thumb"/>-->
<!--            <joint coef="-0.4" joint="gripper0_joint_thumb_distal"/>-->
<!--        </fixed>-->

<!--        <fixed frictionloss="0.4" name="gripper0_index_12_cpl" range="-5 5" springlength="0.2" stiffness="3.0">-->
<!--            <joint coef="0.4" joint="gripper0_joint_index"/>-->
<!--            <joint coef="-0.4" joint="gripper0_joint_index_distal"/>-->
<!--        </fixed>-->

<!--        <fixed frictionloss="0.4" name="gripper0_pinky_12_cpl" range="-5 5" springlength="0.2" stiffness="3.0">-->
<!--            <joint coef="0.4" joint="gripper0_joint_pinky"/>-->
<!--            <joint coef="-0.4" joint="gripper0_joint_pinky_distal"/>-->
<!--        </fixed>-->
<!--    </tendon>-->
<!--    <contact/>-->
<!--    <default/>-->
</mujoco>