<mujoco>

	<body mocap="true" name="gripper_r:mocap" pos="0 0 0" >
		<geom conaffinity="0" contype="0" pos="0 0. 0" rgba="0.0 0.5 0.0 0.5" size="0.005 0.005 0.005" type="box" group="1"></geom>
		<geom conaffinity="0" contype="0" pos="0 0. 0" rgba="1.0 0.0 0.0 0.5" size="0.15 0.005 0.005" type="box" group="1"></geom>
		<geom conaffinity="0" contype="0" pos="0 0. 0" rgba="0.0 1.0 0.0 0.5" size="0.005 0.15 0.005" type="box" group="1"></geom>
		<geom conaffinity="0" contype="0" pos="0 0. 0" rgba="0.0 0.0 1.0 0.5" size="0.005 0.005 0.15" type="box" group="1"></geom>
    </body>
    
    <include file="robot_base.xml"></include>

</mujoco>
