<mujoco>
	<worldbody>
		<!-- Camera base -->
		<!-- <body name="rgb_camera_base" mocap="true" pos="0 0.2 0.2"> -->
		<body name="rgb_camera_base" mocap="true" pos="0 1 0">
			<!--
			<geom type="sphere" conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.021 0.021 0.021"/>
        	 -->
			<geom type="sphere" conaffinity="0" contype="0" pos="0 0 0" rgba="0 0 0 0.0" size="0.021 0.021 0.021"/>

			<!-- Camera arm -->
			<!-- <body name="rgb_camera_arm" pos="0 0.2 0.2" axisangle="0 0 1 3.141592"> -->
			<body name="rgb_camera_arm" pos="0 0 0" axisangle="0 0 1 -1.570796">
				<geom type="box" size="0.01 0.01 0.01" zaxis="0 1 0" rgba="0 0 0 0.0"/>
				<joint name="rgb_camera_jointz" type="hinge" damping="0.4" pos="0 0 0" axis="0 0 1" range="-1.57 1.57"/>
	
				<!-- Camera head -->
				<!-- <body name="rgb_camera_head" pos="0 0 0" axisangle="1 0 0 1.414"> -->
				<body name="rgb_camera_head" pos="0 0.0 0" axisangle="1 0 0 1.570796">
					<!--<joint name="rgb_camera_jointz" type="hinge" damping="0.4" pos="0 0 0" axis="0 0 1" range="-1.57 1.57"/>-->
					<joint name="rgb_camera_jointx" type="hinge" damping="0.4" pos="0 0 0" axis="1 0 0" range="-1.57 1.57"/>
					<geom type="box" size="0.02 0.02 0.02" zaxis="0 1 0" rgba="0 0 0 0.0"/>
					<camera name="rgb_camera" pos="0 0 0" euler="0 0 0" fovy="45" ipd="0.068"/>
				</body>
			</body>
		</body>
	</worldbody>
</mujoco>
