<!-- 
Adapted from: https://github.com/StanfordVL/robosuite/blob/master/robosuite/models/assets/robots/baxter/robot.xml

@inproceedings{corl2018surreal,
  title={SURREAL: Open-Source Reinforcement Learning Framework and Robot Manipulation Benchmark},
  author={Fan, Linxi and Zhu, Yuke and Zhu, Jiren and Liu, Zihua and Zeng, Orien and Gupta, Anchit and Creus-Costa, Joan and Savarese, Silvio and Fei-Fei, Li},
  booktitle={Conference on Robot Learning},
  year={2018}
}

 -->

<mujoco model="baxter">
  <compiler coordinate="local" angle="radian" meshdir="models/baxter/" texturedir="textures/" strippath="false" />
  <size njmax="795" nconmax="250" nstack="631875" />
  <option timestep="0.002"  gravity="0 0 -9.81" solver="Newton" noslip_iterations="0"/>
  <asset>
    <mesh name="base_link" file="meshes/torso/base_link.STL" />
    <mesh name="base_link_collision" file="meshes/torso/base_link_collision.STL" />
    <mesh name="PEDESTAL" file="meshes/base/PEDESTAL.STL" />
    <mesh name="pedestal_link_collision" file="meshes/base/pedestal_link_collision.STL" />
    <mesh name="H0" file="meshes/head/H0.STL" />
    <mesh name="H1" file="meshes/head/H1.STL" />
    <mesh name="S0" file="meshes/upper_shoulder/S0.STL" />
    <mesh name="S1" file="meshes/lower_shoulder/S1.STL" />
    <mesh name="E0" file="meshes/upper_elbow/E0.STL" />
    <mesh name="E1" file="meshes/lower_elbow/E1.STL" />
    <mesh name="W0" file="meshes/upper_forearm/W0.STL" />
    <mesh name="W1" file="meshes/lower_forearm/W1.STL" />
    <mesh name="W2" file="meshes/wrist/W2.STL" />
    <mesh name="paddle_tip" file="meshes/electric_gripper/fingers/paddle_tip.STL" />
    <mesh name="half_round_tip" file="meshes/electric_gripper/fingers/half_round_tip.STL" />
    <mesh name="electric_gripper_base" file="meshes/electric_gripper/electric_gripper_base.STL" />
    <mesh name="extended_narrow" file="meshes/electric_gripper/fingers/extended_narrow.STL"/>
    <!-- <mesh name="laundry_basket" file="laundry_basket.STL" scale="0.001 0.001 0.001"/> -->
  </asset>

  <visual>
    <map fogstart="1.5" fogend="3" />
    <quality shadowsize="2048" />
  </visual>

  <default>
    <default class="viz">
      <geom margin="0.001" contype="0" conaffinity="0" group="1" type="mesh" />
    </default>
    <geom solimp="0.99 0.99 0.01" solref="0.01 1" condim="6" />
  </default>

  <contact>
    <exclude body1="right_upper_shoulder" body2="torso" />
    <exclude body1="right_upper_shoulder" body2="right_upper_elbow" />
    <exclude body1="right_lower_shoulder" body2="torso" />
    <exclude body1="left_upper_shoulder" body2="torso" />
    <exclude body1="left_upper_shoulder" body2="left_upper_elbow" />
    <exclude body1="left_lower_shoulder" body2="torso" />
    <exclude body1="collision_head_link_1" body2="torso" />
    <exclude body1="collision_head_link_2" body2="torso" />
    <exclude body1="table" body2="torso" />
    <exclude body1="table" body2="pedestal" />
  </contact>

  <equality>
  </equality>

  <worldbody>
    <light directional="false" cutoff="90" exponent="1" diffuse="1 1 1" specular="0 0 0" pos="1 0 1.5" dir="-1 0 -2.5"/>
    <geom name="ground" type="plane" pos="0 0 -0.925" size="4 4 .05" rgba="0.7 0.6 0.5 1"/>
    <camera name="overhead_cam" pos="0.5 0.0 1.0" quat="0.707 0 0 -0.707" />
    <camera name="forward_cam" pos="2 0.0 0.1" quat="0.5 0.5 0.5 0.5" />

    <body name="base" pos="0 0 0">
      <inertial pos="0 0 0" mass="10" diaginertia="0.001 0.001 0.001" />
      <body name="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 margin="0.001" type="sphere" class="viz" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
        <geom margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 -0.04 0"/>
      </body>
      <body name="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 margin="0.001" type="sphere" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
        <geom margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 0.04 0" />
      </body>
      <body name="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 margin="0.001" class="viz" mesh="base_link" />
        <geom margin="0.001" type="mesh" mesh="base_link_collision" class="viz"/>
        <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 margin="0.001" class="viz" rgba="0.2 0.2 0.2 1" mesh="PEDESTAL" />
          <geom margin="0.001" pos="-.04 0 -.8" rgba="0.2 0.2 0.2 1" type="box" size=".46 .425 .16" />
          <geom margin="0.001" pos="0 0 -.35" rgba="0.2 0.2 0.2 1" type="capsule" size=".165 .25" />
        </body>
        <body name="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 limited="true" damping="0" armature=".01" name="head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" />
          <geom margin="0.001" class="viz" rgba="0.2 0.2 0.2 1" mesh="H0" />
          <body name="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 margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="H1" pos="0 0 -.03" euler="0 -1.57 0" />
            <geom margin="0.001" 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>
        <body name="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="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 limited="true" damping="0" armature=".01" name="right_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.70168 1.70168" />
            <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S0" />
            <geom margin="0.001" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361"/>
            <body name="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 limited="true" damping="0" armature=".01" name="right_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047" />
              <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S1" />
              <geom margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
              <body name="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 limited="true" damping="0" armature=".01" name="right_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" />
                <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E0" />
                <geom margin="0.001" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535"/>
                <geom margin="0.001" name="right_upper_elbow_visual" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" class="viz"/>
                <body name="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 limited="true" damping="0" armature=".01" name="right_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618" />
                  <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E1" />
                  <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
                  <body name="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 limited="true" damping="0" armature=".01" name="right_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
                    <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W0" />
                    <geom margin="0.001" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" />
                    <geom margin="0.001" name="right_upper_forearm_visual" type="cylinder" size="0.06 0.1036" pos="0 0 0.1" class="viz"/>
                    <body name="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 limited="true" damping="0" armature=".01" name="right_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094" />
                      <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W1" />
                      <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
                      <body name="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 limited="true" damping="0" armature=".01" name="right_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
                        <geom margin="0.001" class="viz" rgba="0.1 0.1 0.1 1" mesh="W2" />
                        <geom margin="0.001" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" />
                        <body name="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" />
                          <!--<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="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="right_gripper" pos="0 0 0.1327">
                                <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                            </body>-->
                            <!-- <body name="right_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="right_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="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"/>
                              <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"/>
                              <body name="right_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" />
                              </body>
                            </body>
                            <body name="right_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="right_gripper_r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-0.020833 0" />
                              <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"/>
                              <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"/>
                              <body name="right_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" />
                              </body>
                            </body> -->
                            <body name="right_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="right_gripper_l_finger_joint" limited="true" armature=".01" pos="0 0 0" axis="0 1 0" type="slide" range="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"/>
                              <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"/>
                              <body name="right_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" /> -->
                                <geom size="0.02 0.01 0.025" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box" />
                              </body>
                            </body>
                            <body name="right_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="right_gripper_r_finger_joint" limited="true" armature=".01" pos="0 0 0" axis="0 1 0" type="slide" range="-0.020833 0" />
                              <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"/>
                              <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"/>
                              <body name="right_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" /> -->
                                <geom size="0.02 0.01 0.025" pos="0 0.0045 -0.015" quat="0 0 0 1" type="box" />
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="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="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 limited="true" damping="0" armature=".01" name="left_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.70168 1.70168" />
            <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S0" />
            <geom margin="0.001" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" />
            <body name="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 limited="true" damping="0" armature=".01" name="left_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047" />
              <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="S1" />
              <geom margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
              <body name="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 limited="true" damping="0" armature=".01" name="left_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" />
                <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E0" />
                <geom margin="0.001" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" />
                <geom margin="0.001" name="left_upper_elbow_visual" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" class="viz"/>
                <body name="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 limited="true" damping="0" armature=".01" name="left_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618" />
                  <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="E1" />
                  <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
                  <body name="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 limited="true" damping="0" armature=".01" name="left_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
                    <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W0" />
                    <geom margin="0.001" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" />
                    <geom margin="0.001" name="left_upper_forearm_visual" type="cylinder" size="0.06 0.136" pos="0 0 0.136" class="viz"/>
                    <body name="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 limited="true" damping="0" armature=".01" name="left_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094" />
                      <geom margin="0.001" class="viz" rgba="0.5 0.1 0.1 1" mesh="W1" />
                      <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" />
                      <body name="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 limited="true" damping="0" armature=".01" name="left_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
                        <geom margin="0.001" class="viz" rgba="0.1 0.1 0.1 1" mesh="W2" />
                        <geom margin="0.001" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" />
                        <body name="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" />
                          <!--<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="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" />
                            <!--<body name="left_gripper" pos="0 0 0.1327">
                                <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                            </body>-->
                            <!-- <body name="left_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="left_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="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"/>
                                <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"/>
                                <body name="left_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="-.02 -.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" />
                                </body>
                            </body>
                            <body name="left_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="left_gripper_r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-0.020833 0" />
                                <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"/>
                                <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"/>
                                <body name="left_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" />
                                </body>
                            </body>  -->
                            <body name="left_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="left_gripper_l_finger_joint" limited="true" armature=".01" pos="0 0 0" axis="0 1 0" type="slide" range="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"/>
                                <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"/>
                                <body name="left_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="-.02 -.009 0.003" mesh="paddle_tip" euler="-1.57 0 0"/>
                                    <geom size="0.02 0.01 0.025" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box" />
                                </body>
                            </body>
                            <body name="left_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="left_gripper_r_finger_joint" limited="true" armature=".01" pos="0 0 0" axis="0 1 0" type="slide" range="-0.020833 0" />
                                <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"/>
                                <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"/>
                                <body name="left_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="0.02 0.01 0.025" pos="0 0.0045 -0.015" quat="0 0 0 1" type="box" />
                                </body>
                            </body> 
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
    <body name="B0_0" pos="0.5 -0.3 -0.05">
      <freejoint />
      <composite type="cloth" count="4 7 1" spacing="0.1" flatinertia="0.01">
          <!-- <joint kind="main" damping="0.001"/> -->
          <joint kind="main" armature="0.01"/>
          <!-- <geom type="capsule" size="0.015 0.01" /> -->
          <geom type="sphere" size="0.015" mass="0.005"/>
      </composite>
    </body>
    <body name="table" pos="0.5 0 0.485" euler="0 0 0">
      <geom name="table" type="box" size="0.5 0.75 0.485">
    </body>
  </worldbody>

  <actuator>

    <velocity joint="right_s0" ctrlrange="-2 2" ctrllimited="true" kv="60"/>
    <velocity joint="right_s1" ctrlrange="-2 2" ctrllimited="true" kv="50"/>
    <velocity joint="right_e0" ctrlrange="-2 2" ctrllimited="true" kv="20"/>
    <velocity joint="right_e1" ctrlrange="-2 2" ctrllimited="true" kv="20"/>
    <velocity joint="right_w0" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <velocity joint="right_w1" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <velocity joint="right_w2" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <!-- <velocity joint="right_gripper_l_finger_joint" ctrlrange="-1 1" ctrllimited="true" kv="5" />
    <velocity joint="right_gripper_r_finger_joint" ctrlrange="-1 1" ctrllimited="true" kv="5" /> -->
    <motor joint="right_gripper_l_finger_joint" ctrlrange="-500 500" ctrllimited="true"/>
    <motor joint="right_gripper_r_finger_joint" ctrlrange="-500 500" ctrllimited="true"/>

    <velocity joint="left_s0" ctrlrange="-2 2" ctrllimited="true" kv="60"/>
    <velocity joint="left_s1" ctrlrange="-2 2" ctrllimited="true" kv="50"/>
    <velocity joint="left_e0" ctrlrange="-2 2" ctrllimited="true" kv="20"/>
    <velocity joint="left_e1" ctrlrange="-2 2" ctrllimited="true" kv="20"/>
    <velocity joint="left_w0" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <velocity joint="left_w1" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <velocity joint="left_w2" ctrlrange="-4 4" ctrllimited="true" kv="5" />
    <!-- <velocity joint="left_gripper_l_finger_joint" ctrlrange="-1 1" ctrllimited="true" kv="5" />
    <velocity joint="left_gripper_r_finger_joint" ctrlrange="-1 1" ctrllimited="true" kv="5" /> -->
    <motor joint="left_gripper_l_finger_joint" ctrlrange="-500 500" ctrllimited="true"/>
    <motor joint="left_gripper_r_finger_joint" ctrlrange="-500 500" ctrllimited="true"/>

</actuator>

</mujoco>