<mujoco model="sawyer">
  <!-- <compiler angle="radian"/>
  <size nconmax="100" njmax="500"/> -->
  <actuator>
    <!-- Mujoco does not have velocity limit in actuator :( -->
<!--     <position ctrllimited="true" ctrlrange="-3.0503 3.0503" joint="right_j0" kp="50" name="pos_right_j0"/>
    <position ctrllimited="true" ctrlrange="-3.8095 2.2736" joint="right_j1" kp="30" name="pos_right_j1" forcelimited="true" forcerange="-8000 8000"/>
    <position ctrllimited="true" ctrlrange="-3.0426 3.0426" joint="right_j2" kp="20" name="pos_right_j2" forcelimited="true" forcerange="-500 500"/>
    <position ctrllimited="true" ctrlrange="-3.0439 3.0439" joint="right_j3" kp="15" name="pos_right_j3" forcelimited="true" forcerange="-500 500"/>
    <position ctrllimited="true" ctrlrange="-2.9761 2.9761" joint="right_j4" kp="10" name="pos_right_j4" forcelimited="true" forcerange="-8 8"/>
    <position ctrllimited="true" ctrlrange="-2.9761 2.9761" joint="right_j5" kp="5" name="pos_right_j5" forcelimited="true" forcerange="-8 8"/>
    <position ctrllimited="true" ctrlrange="-4.7124 4.7124" joint="right_j6" kp="2" name="pos_right_j6" forcelimited="true" forcerange="-8 8"/> -->
    <velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0"/>
        <velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1"/>
        <velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2"/>
        <velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3"/>
        <velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4"/>
        <velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5"/>
        <velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6"/>
  </actuator>
  <asset>
    <mesh file="meshes/pedestal.stl" name="pedestal"/>
    <mesh file="meshes/base.stl" name="base"/>
    <mesh file="meshes/l0.stl" name="l0"/>
    <mesh file="meshes/head.stl" name="head"/>
    <mesh file="meshes/l1.stl" name="l1"/>
    <mesh file="meshes/l2.stl" name="l2"/>
    <mesh file="meshes/l3.stl" name="l3"/>
    <mesh file="meshes/l4.stl" name="l4"/>
    <mesh file="meshes/l5.stl" name="l5"/>
    <mesh file="meshes/l6.stl" name="l6"/>
  </asset>
  <worldbody>
    <body name="base" pos="0 0 0">
      <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
      <body name="controller_box" pos="0 0 0">
        <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
        <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box"/>
      </body>
      <body name="pedestal_feet" pos="0 0 0">
        <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
        <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box"/>
      </body>
      <body name="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" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box"/>
      </body>
      <body name="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="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh"/>
        <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder"/>
      </body>
      <body name="right_arm_base_link" pos="0 0 0">
        <inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558"/>
        <geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh"/>
        <geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder"/>
        <body name="right_l0" pos="0 0 0.08">
          <inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573"/>
          <joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" damping="0.0"/>
          <geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh"/>
          <geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07"/>
          <body name="head" pos="0 0 0.2965">
            <inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247"/>
            <joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
            <geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh"/>
            <geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018"/>
            <body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
              <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
              <geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box"/>
              <geom rgba="0.2 0.2 0.2 1" size="0.001"/>
            </body>
            <body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
              <inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813"/>
            </body>
          </body>
          <body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
            <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
          </body>
          <body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
            <inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296"/>
            <joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736"  damping="0.0"/>
            <geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh"/>
            <geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07"/>
            <body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
              <inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537"/>
              <joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426"  damping="0.0"/>
              <geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh"/>
              <geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder"/>
              <body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
                <inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247"/>
                <joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439"  damping="0.0"/>
                <geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh"/>
                <geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06"/>
                <body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
                  <inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582"/>
                  <joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761"  damping="0.0"/>
                  <geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh"/>
                  <geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder"/>
                  <body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
                    <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
                  </body>
                  <body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
                    <inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335"/>
                    <joint axis="0 0 1" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" damping="0.2" />
                    <geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh"/>
                    <geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06"/>
                    <body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
                      <inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"/>
                    </body>
                    <body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
                      <inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0"/>
                    </body>
                    <body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
                      <inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322"/>
                      <joint axis="0 0 1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" damping="0.1"/>
                      <geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh"/>
                      <geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder"/>
                      <body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
                                              <!-- To add gripper -->
                                          </body>
                    </body>
                  </body>
                  <body name="right_l4_2" pos="0 0 0">
                    <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 pos="0 0.01 0.26" size="0.06"/>
                  </body>
                </body>
              </body>
              <body name="right_l2_2" pos="0 0 0">
                <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 pos="0 0 0.26" size="0.06"/>
              </body>
            </body>
            <body name="right_l1_2" pos="0 0 0">
              <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 pos="0 0 0.035" size="0.07 0.07" type="cylinder"/>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
</mujoco>