<mujoco>
    <body name="pedestal_table" pos="0.482 0 -0.05">
      <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 0 0" quat="0.707 0 0 0.707" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.6 0.6 0.6 1" mesh="pedestal_table" /> -->
      <geom name="table" size="0.6 0.45 0.05" pos="0 0 0" type="box" rgba="0.4 0.4 0.4 1" condim="6" friction="0.95 0.3 0.2" />
    <body name="right_arm_base_link" pos="-0.482 0 0.05">
      <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 0" />
      <body name="right_l0" pos="0 0 0.08">
        <inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" />
        <joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" damping="1000"/>
        <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 0" />
        <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" damping="10"/> -->
          <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" />
          <geom size="0.18" pos="0 0 0.08" rgba="0.5 0.1 0.1 0" />
          <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 0" />
            <geom size="0.001" rgba="0.2 0.2 0.2 0" />
          </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" />
            <site name="headsite" pos="0 0 0" size="0.01" />
          </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" damping="1000"/>
          <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 0" />
          <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" damping="1000"/>
            <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 0" />
            <body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
              <site name="armsite" pos="0 0 0" size="0.01" />
              <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" damping="1000"/>
              <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 0" />
              <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" damping="1000" />
                <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 0" />
                <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="1000"/>
                  <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 0" />
                  <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="1000"/>
                    <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 0" />
                    <body name="right_hand" pos="0 0 0.0245" quat="0.707107 0 0 0.707107">
                      <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="0.035 0.015" pos="0 0 0.02" type="cylinder" rgba="0.2 0.2 0.2 0"/>

<!--  ================= BEGIN GRIPPER ================= /-->
                                                <!--body name="claw" pos="0 0 0" quat="-1 0 1 0">
                                                    <geom class="1" name="Geomclaw" type="box" size="0.01 0.04 0.01" />
                                                    <body name="rightclaw" pos=".01 -.02 0" >
							<inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                                                        <geom name="rightclaw_it" class="1" type="box" pos="0 0 0" size="0.05 0.005 0.005" friction="0.001 0.005 0.0001" rgba="0.1 0.1 0.1 1.0"/>
                                                        <joint name="rc_close" type="slide" pos="0 0 0" range="-0.01 0"/>
                                                    </body>
                                                    <body name="leftclaw" pos=".01 .02 0">
							<inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                                                        <geom name="leftclaw_it" class="1" type="box" pos="0 0 0" size="0.05 0.005 0.005" friction="0.001 0.005 0.0001" rgba="0.1 0.1 0.1 1.0"/>
							<joint name="lc_close" type="slide" pos="0 0 0" range="0 0.01"/-->
                                                        <!--site name="endeffector" pos="0 0 0" size="0.01" /-->
                                                        <!-- <body name="endeff" pos=".01 .02 0"> -->
                                                            <!-- <geom name="leftclaw_it" class="1" type="capsule" fromto="0 0 0 .05 0.0 0.0"    size="0.005" /> -->
                                                            <!-- <site name="endeffector" pos="0 0 0" size="0.01" /> -->
                                                        <!-- </body>-->
                                                    <!--/body-->
                                                <!--/body-->
                      <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" class="viz" mesh="electric_gripper_base" />
                        <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" />
                        <body name="r_gripper_l_finger" pos="0 -0.0015 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" range="0 0.03" armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1"/>
                          <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" contype="0" pos="0 0.01725 0.0615" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1"/>
                          <geom size="0.005 0.025 0.0085" contype="0" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" rgba="0.1 0.1 0.1 1"/>
                          <body name="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" friction="0 0 0"/>
                            <geom name="finger_tip_1" size="0.008 0.008 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box" friction="0 0 0"/>
                          </body>
                        </body>
                        <body name="r_gripper_r_finger" pos="0 0.0015 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" range="-0.03 0" armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1"/>
                          <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" contype="0" pos="0 -0.01725 0.0615" type="box" rgba="0.1 0.1 0.1 1"/>
                          <geom size="0.005 0.025 0.0085" contype="0" pos="0.005 0.003 0.0083" type="box" rgba="0.1 0.1 0.1 1"/>
                          <body name="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" friction="0 0 0"/>
                            <geom name="finger_tip_2" size="0.008 0.008 0.0185" pos="0 0.0045 -0.015" type="box" friction="0 0 0"/>
                          </body>
                        </body>
                        <site name="grip" pos="0 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
                      </body>

                      <!--<body euler="0 0 0" name="gripper_link" pos="0.1664 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>-->
                        <!--&lt;!&ndash;<geom mesh="gripper_link" name="gripper_link" material="gripper_mat"></geom>&ndash;&gt;-->
                        <!--<body name="gipper_camera_link" pos="0.055 0 0.0225">-->
                          <!--<body name="gripper_camera_rgb_frame" pos="0 0.02 0">-->
                            <!--<body name="gripper_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">-->
                              <!--<camera euler="3.1415 0 0" fovy="50" name="gripper_camera_rgb" pos="0 0 0"></camera>-->
                            <!--</body>-->
                          <!--</body>-->
                          <!--<body name="gripper_camera_depth_frame" pos="0 0.045 0">-->
                            <!--<body name="gripper_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></body>-->
                          <!--</body>-->
                        <!--</body>-->

                        <!--<body name="r_gripper_r_finger_tip" pos="0 0.0159 0">-->
                          <!--<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>-->
                          <!--<joint axis="0 1 0" name="r_gripper_r_finger_joint" range="0 0.05"></joint>-->
                          <!--<geom pos="0 -0.008 0" size="0.0385 0.007 0.0135" type="box" name="r_gripper_finger_link" material="gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>-->
                        <!--</body>-->
                        <!--<body name="r_gripper_l_finger_tip" pos="0 -0.0159 0">-->
                          <!--<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>-->
                          <!--<joint axis="0 -1 0" name="r_gripper_l_finger_joint" range="0 0.05"></joint>-->
                          <!--<geom pos="0 0.008 0" size="0.0385 0.007 0.0135" type="box" name="l_gripper_finger_link" material="gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>-->
                        <!--</body>-->
                        <!--<site name="grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>-->
                      <!--</body>-->
<!--  ================= END GRIPPER ================= /-->

                    </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" rgba="0.2 0.2 0.2 0"/>
                </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" rgba="0.2 0.2 0.2 0"/>
            </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" rgba="0.2 0.2 0.2 0"/>
          </body>
        </body>
      </body>
    </body>
  </body>
</mujoco>
