<mujoco model="base">
    <compiler angle="radian" meshdir="meshes/" />
    <option impratio="20" cone="elliptic" />
    <size njmax="5000" nconmax="5000" />
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.9 0.9 1" rgb2="0.2 0.3 0.4" width="256" height="1536" />
        <texture type="2d" name="texplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512" />
        <texture type="2d" name="tex-lego" file="{base}/mujoco/assets/arenas/../textures/lego.png" />
        <material name="floorplane" texture="texplane" texuniform="true" reflectance="0.5" />
        <material name="lego" texture="tex-lego" texuniform="true" texrepeat="10 10" reflectance="0.7" />
        <mesh name="pedestal" file="{base}/mujoco/assets/robots/sawyer/meshes/pedestal.stl" />
        <mesh name="base" file="{base}/mujoco/assets/robots/sawyer/meshes/base.stl" />
        <mesh name="l0" file="{base}/mujoco/assets/robots/sawyer/meshes/l0.stl" />
        <mesh name="head" file="{base}/mujoco/assets/robots/sawyer/meshes/head.stl" />
        <mesh name="l1" file="{base}/mujoco/assets/robots/sawyer/meshes/l1.stl" />
        <mesh name="l2" file="{base}/mujoco/assets/robots/sawyer/meshes/l2.stl" />
        <mesh name="l3" file="{base}/mujoco/assets/robots/sawyer/meshes/l3.stl" />
        <mesh name="l4" file="{base}/mujoco/assets/robots/sawyer/meshes/l4.stl" />
        <mesh name="l5" file="{base}/mujoco/assets/robots/sawyer/meshes/l5.stl" />
        <mesh name="l6" file="{base}/mujoco/assets/robots/sawyer/meshes/l6.stl" />
        <mesh name="electric_gripper_base" file="{base}/mujoco/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" />
        <mesh name="standard_narrow" file="{base}/mujoco/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" />
        <mesh name="half_round_tip" file="{base}/mujoco/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" />
    </asset>
    <worldbody>
        <geom name="floor" size="3 3 0.125" pos="0.56 0 0" type="plane" material="floorplane" />
        <camera name="frontview" pos="2.16 0 1.45" quat="0.56 0.43 0.43 0.56" />
        <camera name="birdview" pos="0.36 0 3" quat="0.7071 0 0 0.7071" />
        <camera name="agentview" pos="1.06 0 1.35" quat="0.653 0.271 0.271 0.653" />
        <light pos="1.56 1 4" dir="0 -0.14834 -0.988936" castshadow="false" diffuse="0.8 0.8 0.8" />
        <light pos="-2.44 -3 4" dir="0 -0.14834 -0.988936" castshadow="false" diffuse="0.8 0.8 0.8" />
        <body name="table" pos="0.56 0 0.4">
            <inertial pos="0 0 0" mass="1024" diaginertia="109.227 109.227 109.227" />
            <geom name="table_collision" size="0.4 0.4 0.4" type="box" material="lego" />
            <geom name="table_visual" size="0.4 0.4 0.4" type="box" contype="0" conaffinity="0" group="1" material="lego" />
            <site name="table_top" pos="0 0 0.4" size="0.001" rgba="0 0 0 0" />
        </body>
        <body name="base" pos="0 0 0.913">
            <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
            <body name="controller_box" pos="0 0 0">
                <inertial pos="-0.325 0 -0.38" mass="46.64" diaginertia="1.71363 1.27988 0.809981" />
                <geom size="0.11 0.2 0.265" pos="-0.325 0 -0.38" type="box" />
            </body>
            <body name="pedestal_feet" pos="0 0 0">
                <inertial pos="-0.1225 0 -0.758" mass="167.09" diaginertia="8.16095 9.59375 15.0785" />
                <geom size="0.385 0.35 0.155" pos="-0.1225 0 -0.758" type="box" />
            </body>
            <body name="torso" pos="0 0 0">
                <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                <geom size="0.05 0.05 0.05" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" />
            </body>
            <body name="pedestal" pos="0 0 0">
                <inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
                <geom pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="pedestal" />
                <geom size="0.18 0.31" pos="-0.02 0 -0.29" type="cylinder" rgba="0.2 0.2 0.2 1" />
            </body>
            <body name="right_arm_base_link" pos="0 0 0">
                <inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="base" />
                <geom size="0.08 0.12" pos="0 0 0.12" type="cylinder" rgba="0.5 0.1 0.1 1" />
                <body name="right_l0" pos="0 0 0.08">
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                    <joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l0" />
                    <geom size="0.07" pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" />
                    <body name="head" pos="0 0 0.2965">
                        <inertial pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" />
                        <joint name="head_pan" pos="0 0 0" axis="0 0 1" limited="true" range="-5.0952 0.9064" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" />
                        <geom size="0.018" pos="0 0 0.08" rgba="0.5 0.1 0.1 1" />
                        <body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
                            <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                            <geom size="0.12 0.07 0.001" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" />
                            <geom size="0.001" rgba="0.2 0.2 0.2 1" />
                        </body>
                        <body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
                            <inertial pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" mass="0" diaginertia="0 0 0" />
                        </body>
                    </body>
                    <body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                    </body>
                    <body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
                        <inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" />
                        <joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.8095 2.2736" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l1" />
                        <geom size="0.07" pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" />
                        <body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
                            <inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" />
                            <joint name="right_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0426 3.0426" />
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l2" />
                            <geom size="0.06 0.17" pos="0 0 0.08" type="cylinder" rgba="0.5 0.1 0.1 1" />
                            <body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
                                <inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" />
                                <joint name="right_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0439 3.0439" />
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l3" />
                                <geom size="0.06" pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" />
                                <body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
                                    <inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" />
                                    <joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l4" />
                                    <geom size="0.045 0.15" pos="0 0 0.11" type="cylinder" rgba="0.5 0.1 0.1 1" />
                                    <body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                                    </body>
                                    <body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
                                        <inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" />
                                        <joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="0.2" />
                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l5" />
                                        <geom size="0.06" pos="0 0 0.1" rgba="0.5 0.1 0.1 1" />
                                        <body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
                                            <inertial pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" mass="0" diaginertia="0 0 0" />
                                        </body>
                                        <body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
                                            <inertial pos="0 0 0.10541" quat="0.707107 0.707107 0 0" mass="0" diaginertia="0 0 0" />
                                        </body>
                                        <body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
                                            <inertial pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" mass="0.3292" diaginertia="0.000360258 0.000311068 0.000214974" />
                                            <joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-4.7124 4.7124" damping="0.1" />
                                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l6" />
                                            <geom size="0.055 0.025" pos="0 0.015 -0.01" type="cylinder" rgba="0.5 0.1 0.1 1" />
                                            <body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
                                                <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                                <geom size="1e-08 5e-09" type="cylinder" />
                                                <body name="right_gripper_base" pos="0 0 0.025">
                                                    <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
                                                    <geom quat="0 0 0.707107 0.707107" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="electric_gripper_base" />
                                                    <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" rgba="0.5 0.1 0.1 1" />
                                                    <body name="right_gripper" pos="0 0 0.095">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                                                        <site name="grip_site" pos="0 0 0" size="0.01" group="1" rgba="0 0 0 0" />
                                                        <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" group="1" type="cylinder" rgba="0 0 0 0" />
                                                        <camera name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" fovy="75" />
                                                    </body>
                                                    <body name="r_gripper_l_finger" pos="0 0.01 0.02">
                                                        <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.02" diaginertia="0.01 0.01 0.01" />
                                                        <joint name="r_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100" />
                                                        <geom name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="standard_narrow" />
                                                        <geom name="l_finger_g0" size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" contype="0" friction="0 0 0" rgba="0 0 0 1" />
                                                        <geom name="l_finger_g1" size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" contype="0" friction="0 0 0" rgba="0 0 0 1" />
                                                        <body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
                                                            <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                            <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="half_round_tip" />
                                                            <geom name="l_fingertip_g0" size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box" contype="0" friction="0 0 0" rgba="0 0 0 1" />
                                                        </body>
                                                    </body>
                                                    <body name="r_gripper_r_finger" pos="0 -0.01 0.02">
                                                        <inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                                                        <joint name="r_gripper_r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100" />
                                                        <geom name="r_gripper_r_finger" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="standard_narrow" />
                                                        <geom name="r_finger_g0" size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" contype="0" friction="0 0 0" rgba="0.5 0.1 0.1 1" />
                                                        <geom name="r_finger_g1" size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" contype="0" friction="0 0 0" rgba="0 0 0 1" />
                                                        <body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
                                                            <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="half_round_tip" />
                                                            <geom name="r_fingertip_g0" size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" contype="0" friction="0 0 0" rgba="0 0 0 1" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                    <body name="right_l4_2" pos="0 0 0">
                                        <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                        <geom size="0.06" pos="0 0.01 0.26" />
                                    </body>
                                </body>
                            </body>
                            <body name="right_l2_2" pos="0 0 0">
                                <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                <geom size="0.06" pos="0 0 0.26" />
                            </body>
                        </body>
                        <body name="right_l1_2" pos="0 0 0">
                            <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                            <geom size="0.07 0.07" pos="0 0 0.035" type="cylinder" />
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="cube" pos="0.587766 -0.00245723 0.822" quat="0.877583 0 0 0.479426">
            <inertial pos="0 0 0" mass="0.0170368" diaginertia="5.49721e-06 5.49721e-06 5.49721e-06" />
            <joint name="cube" type="free" />
            <geom name="cube" size="0.022 0.022 0.022" type="box" group="1" friction="2 0.005 0.0001" rgba="0 1 0 1" />
            <site name="cube" pos="0 0 0" size="0.002" rgba="1 0 0 1" />
        </body>
    </worldbody>
    <actuator>
        <general name="vel_right_j0" joint="right_j0" ctrllimited="true" ctrlrange="-1.74 1.74" biastype="affine" gainprm="8 0 0" biasprm="0 0 -8" />
        <general name="vel_right_j1" joint="right_j1" ctrllimited="true" ctrlrange="-1.328 1.328" biastype="affine" gainprm="7 0 0" biasprm="0 0 -7" />
        <general name="vel_right_j2" joint="right_j2" ctrllimited="true" ctrlrange="-1.957 1.957" biastype="affine" gainprm="6 0 0" biasprm="0 0 -6" />
        <general name="vel_right_j3" joint="right_j3" ctrllimited="true" ctrlrange="-1.957 1.957" biastype="affine" gainprm="4 0 0" biasprm="0 0 -4" />
        <general name="vel_right_j4" joint="right_j4" ctrllimited="true" ctrlrange="-3.485 3.485" biastype="affine" gainprm="2 0 0" biasprm="0 0 -2" />
        <general name="vel_right_j5" joint="right_j5" ctrllimited="true" ctrlrange="-3.485 3.485" biastype="affine" gainprm="0.5 0 0" biasprm="0 0 -0.5" />
        <general name="vel_right_j6" joint="right_j6" ctrllimited="true" ctrlrange="-4.545 4.545" biastype="affine" gainprm="0.1 0 0" biasprm="0 0 -0.1" />
        <general name="gripper_r_gripper_r_finger_joint" joint="r_gripper_r_finger_joint" ctrllimited="true" forcelimited="true" ctrlrange="-0.0115 0.020833" forcerange="-20 20" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 0" />
        <general name="gripper_r_gripper_l_finger_joint" joint="r_gripper_l_finger_joint" ctrllimited="true" forcelimited="true" ctrlrange="-0.020833 0.0115" forcerange="-20 20" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 0" />
    </actuator>
</mujoco>
