<!-- ======================================================
	This file is part of MuJoCo.     
	Copyright 2009-2019 Roboti LLC.
	
	Model 		:: Baxter from rethink robotics
		Source		: 
		Downloaded	: 
		
	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.51
		Released 	: 12Sept19
		
	Author		:: Vikash Kumar
	Editor      	:: Jim Huang (For gym/robotics task)
		Contacts 	: huangjiancong863@gmail.com
====================================================== -->

<mujoco model="baxter(v1.31)">
        <body mocap="true" name="robot0:mocap" pos="0 0 0">
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box" />
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box" />
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box" />
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box" />
	</body>   

		
        <body name="base" pos="0 0 0">
        <!-- <joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide" limited="false" />
		<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide" limited="false" />
		<joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide" limited="false" /> -->
            <inertial pos="0 0 0" mass="10" diaginertia="0.001 0.001 0.001" />
            <body name="robot0:collision_head_link_1" pos="0.11 0 0.75">
                <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                <geom type="sphere" class="viz" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
                <geom type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 -0.04 0" group="4"/>
            </body>
            <body name="robot0:collision_head_link_2" pos="0.11 0 0.75">
                <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                <geom type="sphere" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
                <geom type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 0.04 0" group="4"/>
            </body>
            <body name="robot0:torso" pos="0 0 0">
                <inertial pos="0 0 0" quat="0.997433 0.00167178 0.0715546 -0.00209003" mass="35.3365" diaginertia="1.87139 1.66268 0.779991" />
                <geom class="viz" mesh="base_link"/>
                <geom type="mesh" mesh="base_link_collision"/>
                <!--<body name="left_torso_itb" pos="-0.08897 0.15593 0.389125" quat="3.2758e-005 -3.2758e-005 0.707107 0.707107">
                    <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                </body>
                <body name="right_torso_itb" pos="-0.08897 -0.15593 0.389125" quat="0.707107 0.707107 0 0">
                    <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                </body>-->
                <body name="robot0: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 class="viz" rgba="0.2 0.2 0.2 1" mesh="PEDESTAL"/>
                    <!--<geom rgba="0.2 0.2 0.2 1" type=" mesh" mesh="pedestal_link_collision"/>-->
					<geom pos="-.04 0 -.8" rgba="0.2 0.2 0.2 1" type="box" size=".46 .425 .16" group="4"/>
					<geom pos="0 0 -.35" rgba="0.2 0.2 0.2 1" type="capsule" size=".165 .25" group="4"/>
                </body>
                <body name="robot0:head" pos="0.06 0 0.686">
                    <inertial pos="0 0 0" quat="0.339345 0.850736 -0.347392 0.201027" mass="0.547767" diaginertia="0.00474065 0.00461087 0.00199949" />
                    <joint name="robot0:head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/> <!--maxvel="10000" />-->
                    <geom class="viz" rgba="0.2 0.2 0.2 1" mesh="H0"/>
                    <!--<body name="dummyhead1" pos="0 0 0">
                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                    </body>-->
                    <body name="robot0:screen" pos="0.1227 0 0" quat="0.453099 0.542864 0.542864 0.453099">
                        <inertial pos="0 0 0" quat="0.995785 0.0113501 -0.000390852 0.0910132" mass="0.440171" diaginertia="0.0040484 0.00275826 0.00150834" />
                        <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="H1" pos="0 0 -.03" euler="0 -1.57 0"/>
						<geom class="viz" name="display" type="box" size="0.109 0.08 0.002" rgba=".9 .9 .9 1" pos="0 -0.016 0" quat="0.991445 0.130526 0 0" />
                    </body>
                    <!--<body name="head_camera" pos="0.12839 0 0.06368" quat="0.453099 0.542864 0.542864 0.453099">
                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                    </body>-->
                </body>
                <!--<body name="sonar_ring" pos="0.0947 0 0.817">
                    <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                    <geom type="cylinder" class="viz" size="0.085 0.005" rgba="0.2 0.2 0.2 1" pos="-0.0347 0 0.00953" />
                    <geom type="sphere" size="0.001" rgba="0.2 0.2 0.2 1" pos="0 0 0" />
                </body>-->
				
			
                <body name="robot0:right_arm_mount" pos="0.024645 -0.219645 0.118588" quat="0.923879 0 0 -0.382684">
                    <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                    <body name="robot0:right_upper_shoulder" pos="0.055695 0 0.011038">
                        <inertial pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" mass="5.70044" diaginertia="0.0498344 0.0377511 0.0331351" />
                        <joint name="robot0:right_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="0.07669903930664063 0.0766990393066407"/><!-- maxvel="1.5" />-->
                        <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="S0"/> 
                        <geom type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361"/>
                        <body name="robot0:right_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
                            <inertial pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" mass="3.22698" diaginertia="0.0278991 0.0212327 0.0112937" />
                            <joint name="robot0:right_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.9660244000671387 -0.966024400067137"/><!-- maxvel="1.5" />-->
                            <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="S1"/>
                            <geom type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                            <body name="robot0:right_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                                <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" />
                                <joint name="robot0:right_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="1.1481846184204103 1.148184618420411"/><!-- maxvel="1.5" />-->
                                <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="E0"/>
                                <geom type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" group="4"/>
								<geom name="robot0:right_upper_elbow_visual" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" group="4"/>
                                <body name="robot0:right_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                                    <inertial pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" mass="2.07206" diaginertia="0.0132096 0.00950002 0.00685697" />
                                    <joint name="robot0:right_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="1.9232284106140138 1.923228410614014"/><!-- maxvel="1.5" />-->
                                    <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="E1"/>
                                    <geom type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                                    <body name="robot0:right_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                                        <inertial pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" />
                                        <joint name="robot0:right_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.6438884349792481 -0.643888434979247"/><!-- maxvel="4" />-->
                                        <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="W0"/>
                                        <geom type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" group="4"/>
										<geom name="robot0:right_upper_forearm_visual" type="cylinder" size="0.06 0.1036" pos="0 0 0.1" group="4"/>
                                        <!--<body name="right_arm_itb" pos="-0.0565 0 0.12" quat="0.5 -0.5 -0.5 0.5">
                                            <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                        </body>-->
                                        <body name="robot0:right_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                                            <inertial pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" mass="1.60979" diaginertia="0.00708828 0.00552689 0.00379383" />
                                            <joint name="robot0:right_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="1.0074418812927246 1.007441881292725"/><!-- maxvel="4" />-->
                                            <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="W1"/>
                                            <geom type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                                            <body name="robot0:right_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                                                <inertial pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" mass="0.35093" diaginertia="0.0003082 0.000269928 0.000251035" />
                                                <joint name="robot0:right_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="0.483203947631836 0.48320394763184"/><!-- maxvel="4" />-->
                                                <geom class="viz" rgba="0.1 0.1 0.1 1" mesh="W2"/>
                                                <geom type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" group="4"/>
                                                <body name="robot0:right_hand" pos="0 0 0.11355">
                                                    <inertial pos="0.01093 0.00042 -0.01532" quat="0.025365 0.814618 0.0196357 0.579109" mass="0.19125" diaginertia="0.000246058 0.000211549 0.000167391" />
                                                    <geom type="cylinder" size="0.04 0.0232" pos="0 0 -0.0232" group="4"/>
                                                    <!--<body name="right_hand_camera" pos="0.03825 0.012 0.015355" quat="0.707107 0 0 -0.707107">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="cylinder" class="viz" size="0.02 0.005" rgba="0 0 1 0.8" pos="0 0 0" />
                                                    </body>
                                                    <body name="right_hand_camera_axis" pos="0.03825 0.012 0.015355">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                    </body>
                                                    <body name="right_hand_range" pos="0.032 -0.020245 0.0288" quat="0.5 -0.5 -0.5 -0.5">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="box" class="viz" size="0.0025 0.01 0.0025" rgba="0 0 1 0.8" pos="0 0 0" />
                                                    </body>
                                                    <body name="right_hand_accelerometer" pos="0.00198 0.000133 -0.0146">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="box" class="viz" size="0.005 0.005 0.005" rgba="0 0 0 1" pos="0 0 0" />
                                                    </body>-->
                                                    <body name="robot0: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" class="viz" mesh="electric_gripper_base" />
                                                        <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="4"/>
                                                        <body name="robot0:right_gripper" pos="0 0 0.1327">
                                                            <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                                                        </body>
                                                        <body name="robot0:r_gripper_l_finger" pos="0 -0.0015 0.02">
                                                            <inertial pos="0 0 0" quat="0 0 0 -1" mass="4.02" diaginertia="0.01 0.01 0.01" />
                                                            <joint name="robot0:r_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="0.020833 0.020833000000001" limited='true'/>
                                                            <geom class="viz" mesh="extended_narrow" euler="1.57 1.57 0" rgba="0.1 0.1 0.1 1"/>
                                                            <geom size="0.005 0.00675 0.05635" pos="0 0.01725 0.0615" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <body name="robot0:r_gripper_l_finger_tip" pos="0 0.01725 0.1127">
                                                                <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                                <geom pos="-.007 -.01 0.003" class="viz" mesh="half_round_tip" euler="-1.57 0 0"/>
                                                                <geom size="0.008 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="cylinder" group="4"/>
                                                            </body>
                                                        </body>
                                                        <body name="robot0:r_gripper_r_finger" pos="0 0.0015 0.02">
                                                            <inertial pos="0 0 0" mass="4.02" diaginertia="0.01 0.01 0.01" />
                                                            <joint name="robot0:r_gripper_r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-0.020833000000001 -0.020833" limited='true'/>
                                                            <geom class="viz" mesh="extended_narrow" euler="1.57 -1.57 0" rgba="0.1 0.1 0.1 1"/>
                                                            <geom size="0.005 0.00675 0.05635" pos="0 -0.01725 0.0615" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <body name="robot0:r_gripper_r_finger_tip" pos="0 -0.01725 0.1127">
                                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                                <geom pos=".007 .01 0.003" class="viz" mesh="half_round_tip" euler="-1.57 3.14 0"/>
                                                                <geom size="0.008 0.0185" pos="0 0.0045 -0.015" type="cylinder" group="4"/>
                                                            </body>
                                                        </body>
                                                                  
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
                
            <!-- <site name="symmetry_plane" size="0.5 0.001 0.4" pos="0.06402725482097774 0.25902736953530825 0.129626" type="box" rgba="1 1 0 0.3" /> s0: 0.06402725482097774 0.25902736953530825 0.129626 object: /> -->
            <!-- <site name="test_distances" pos="0.5792130768228881 0.170487268730331 0.10099752125700717" rgba="1 1 0 1" size="0.02 0.02 0.02"></site> -->
                <body name="robot0:left_arm_mount" pos="0.024645 0.219645 0.118588" quat="0.923879 0 0 0.382684">
                    <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                    <body name="robot0:left_upper_shoulder" pos="0.055695 0 0.011038">
                        <inertial pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" mass="5.70044" diaginertia="0.0498344 0.0377511 0.0331351" />
                        <joint name="robot0:left_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.70168 1.70168"/><!-- maxvel="1.5" />-->
                        <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="S0"/>
                        <geom type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" group="4"/>
                        <body name="robot0:left_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
                            <inertial pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" mass="3.22698" diaginertia="0.0278991 0.0212327 0.0112937" />
                            <joint name="robot0:left_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047"/><!-- maxvel="1.5" />-->
                            <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="S1"/>
                            <geom type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                            <body name="robot0:left_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                                <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" />
                                <joint name="robot0:left_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418"/><!-- maxvel="1.5" />-->
                                <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="E0"/>
                                <geom type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" group="4"/>
                                <geom name="robot0:left_upper_elbow_visual" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" group="4"/>
								
								<body name="robot0:left_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                                    <inertial pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" mass="2.07206" diaginertia="0.0132096 0.00950002 0.00685697" />
                                    <joint name="robot0:left_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618"/><!-- maxvel="1.5" />-->
                                    <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="E1"/>
                                    <geom type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                                    <body name="robot0:left_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                                        <inertial pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" />
                                        <joint name="robot0:left_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059"/><!-- maxvel="4" />-->
                                        <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="W0"/>
                                        <geom type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" group="4"/>
										<geom name="robot0:left_upper_forearm_visual" type="cylinder" size="0.06 0.136" pos="0 0 0.136" group="4"/>

                                        <!--<body name="left_arm_itb" pos="-0.0565 0 0.12" quat="0.5 -0.5 -0.5 0.5">
                                            <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                        </body>-->
                                        <body name="robot0:left_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                                            <inertial pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" mass="1.60979" diaginertia="0.00708828 0.00552689 0.00379383" />
                                            <joint name="robot0:left_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094"/><!-- maxvel="4" />-->
                                            <geom class="viz" rgba="0.5 0.1 0.1 1" mesh="W1"/>
                                            <geom type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" group="4"/>
                                            <body name="robot0:left_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                                                <inertial pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" mass="0.35093" diaginertia="0.0003082 0.000269928 0.000251035" />
                                                <joint name="robot0:left_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059"/><!-- maxvel="4" />-->
                                                <geom class="viz" rgba="0.1 0.1 0.1 1" mesh="W2"/>
                                                <geom type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" group="4"/>
                                                <body name="robot0:left_hand" pos="0 0 0.11355">
                                                    <inertial pos="0.01093 0.00042 -0.01532" quat="0.025365 0.814618 0.0196357 0.579109" mass="0.19125" diaginertia="0.000246058 0.000211549 0.000167391" />
                                                    <geom type="cylinder" size="0.04 0.0232" pos="0 0 -0.0232" group="4"/>
                                                    <!--<body name="left_hand_camera" pos="0.03825 0.012 0.015355" quat="0.707107 0 0 -0.707107">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="cylinder" class="viz" size="0.02 0.005" rgba="0 0 1 0.8" pos="0 0 0" />
                                                    </body>
                                                    <body name="left_hand_camera_axis" pos="0.03825 0.012 0.015355">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                    </body>
                                                    <body name="left_hand_range" pos="0.032 -0.020245 0.0288" quat="0.5 -0.5 -0.5 -0.5">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="box" class="viz" size="0.0025 0.01 0.0025" rgba="0 0 1 0.8" pos="0 0 0" />
                                                    </body>
                                                    <body name="left_hand_accelerometer" pos="0.00198 0.000133 -0.0146">
                                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
                                                        <geom type="box" class="viz" size="0.005 0.005 0.005" rgba="0 0 0 1" pos="0 0 0" />
                                                    </body>-->
                                                    <body name="robot0:left_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" class="viz" mesh="electric_gripper_base" />
                                                        <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="4"/>
                                                        <body name="robot0:left_gripper" pos="0 0 0.1157">
                                                            <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                                                             
                                                        </body>
                                                        <!-- <site name="gripper_range_l_l" pos="0 0 0.1127" rgba="1 0 1 1" size="0.08 0.0005 0.08" type="box"></site>
                                                        <site name="gripper_range_l_u" pos="0 0.019333 0.1127" rgba="1 1 0 1" size="0.08 0.0005 0.08" type="box"></site> -->
                                                        <body name="robot0:l_gripper_l_finger" pos="0 -0.0015 0.02">
                                                            <!-- <site name="gripper_l_center" pos="0 0 0" rgba="1 0 0 1" size="0.08 0.0005 0.08" type="box"></site> -->
                                                            <!-- <site name="gripper_range_l_l" pos="0 0 0.1127" rgba="1 0 1 1" size="0.08 0.0005 0.08" type="box"></site>
                                                            <site name="gripper_range_l_u" pos="0 0.020833 0.1127" rgba="1 1 0 1" size="0.08 0.0005 0.08" type="box"></site> -->
                                                            <inertial pos="0 0 0" quat="0 0 0 -1" mass="4.02" diaginertia="0.01 0.01 0.01" />
                                                            <joint name="robot0:l_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="0 0.020833"/> <!-- standard 0 0.020833 -->
                                                            <geom class="viz" mesh="extended_narrow" euler="1.57 1.57 0" rgba="0.1 0.1 0.1 1"/>
                                                            <geom size="0.005 0.00675 0.05635" pos="0 0.01725 0.0615" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <body name="robot0:l_gripper_l_finger_tip" pos="0 0.01725 0.1127">
                                                                <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                                <geom class="viz" pos="-0.02 -0.009 0.003" mesh="paddle_tip" euler="-1.57 0 0"/>
                                                                <geom size="0.021 0.00325 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box" group="4"/>
                                                                            
                                                            </body>
                                                        </body>
                                                         <body name="robot0:l_gripper_r_finger" pos="0 0.0015 0.02">
                                                            <!-- <site name="gripper_range_r" pos="0 -0.020833 0.1127" rgba="1 1 0 1" size="1.002 0.002 0.002" type="box"></site> -->
                                                            <inertial pos="0 0 0" mass="4.02" diaginertia="0.01 0.01 0.01" />
                                                            <joint name="robot0:l_gripper_r_finger_joint" pos="0 0 0" axis="0 -1 0" type="slide" range="0 0.020833" /> <!-- standard 0 0.020833 -->
                                                            <geom class="viz" mesh="extended_narrow" euler="1.57 -1.57 0" rgba="0.1 0.1 0.1 1"/>
                                                            <geom size="0.005 0.00675 0.05635" pos="0 -0.01725 0.0615" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" rgba="0.1 0.1 0.1 1" group="4"/>
                                                            <body name="robot0:l_gripper_r_finger_tip" pos="0 -0.01725 0.1127">
                                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
                                                                <geom pos=".02 .009 0.003" class="viz" mesh="paddle_tip" euler="-1.57 3.14 0"/>
                                                                <geom size="0.021 0.00325 0.0185" pos="0 0.0045 -0.015" type="box" group="4"/>
                                                                   
                                                                          
                                                                          

                                                                           <!--<body euler="0 0 0" name="robot0:gripper_link" pos="0 0 0">
										<inertial diaginertia="0.0024 0.0019 0.0013" mass="1.5175" pos="-0.09 -0.0001 -0.0017" quat="0 0.7071 0 0.7071"></inertial>
										<geom size="0.021 0.00325 0.0185" mesh="robot0:gripper_link" name="robot0:gripper_link" material="robot0:gripper_mat"  ></geom>
											
									   </body>-->


                                                            </body>
                                                         </body> 
                                                             
                                                            <site name="robot0:grip" pos="0 0 0.1157" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>            
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
</mujoco>
