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

		<!-- Camera arm -->
		<body name="rgb_camera_arm" pos="0 0.2 0.2" axisangle="0 0 1 3.141592">
			<joint class="free"/>
			<geom type="sphere" size="0.021 0.021 0.021" zaxis="0 1 0"/>

			<!-- Camera head -->
			<body name="rgb_camera_head" pos="0 0 0" axisangle="1 0 0 1.414">
				<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"/>
				<camera name="rgb_camera" pos="0 0 0" euler="0 0 0" fovy="45" ipd="0.068"/>

			</body>
		</body>
	</worldbody>

	<!-- weld camera base and arm: control base position -> control camera position -->
	<equality>
		<weld body1="rgb_camera_base" body2="rgb_camera_arm" solref="0.01 1" solimp=".9 .9 0.01"/>
	</equality>

</mujoco>
