<mujoco>
    <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>
        <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>
        <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>
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
    </body>
    <body childclass="robot0:fetch" name="robot0:base_link" pos="0.2869 0.2641 0">
        <joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
        <joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
        <joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
        <inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014"
                  quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
        <geom mesh="robot0:base_link" name="robot0:base_link" material="robot0:base_mat" class="robot0:grey"></geom>
        <body name="robot0:torso_lift_link" pos="-0.0869 0 0.3774">
            <inertial diaginertia="0.3365 0.3354 0.0943" mass="10.7796" pos="-0.0013 -0.0009 0.2935"
                      quat="0.9993 -0.0006 0.0336 0.0185"></inertial>
            <joint axis="0 0 1" damping="1e+07" name="robot0:torso_lift_joint" range="0.0386 0.3861"
                   type="slide"></joint>
            <geom mesh="robot0:torso_lift_link" name="robot0:torso_lift_link" material="robot0:torso_mat"></geom>
            <body name="robot0:head_pan_link" pos="0.0531 0 0.603">
                <inertial diaginertia="0.0185 0.0128 0.0095" mass="2.2556" pos="0.0321 0.0161 0.039"
                          quat="0.5148 0.5451 -0.453 0.4823"></inertial>
                <joint axis="0 0 1" name="robot0:head_pan_joint" range="-1.57 1.57"></joint>
                <geom mesh="robot0:head_pan_link" name="robot0:head_pan_link" material="robot0:head_mat"
                      class="robot0:grey"></geom>
                <body name="robot0:head_tilt_link" pos="0.1425 0 0.058">
                    <inertial diaginertia="0.0063 0.0059 0.0014" mass="0.9087" pos="0.0081 0.0025 0.0113"
                              quat="0.6458 0.66 -0.274 0.2689"></inertial>
                    <joint axis="0 1 0" damping="1000" name="robot0:head_tilt_joint" range="-0.76 1.45"
                           ref="0.06"></joint>
                    <geom mesh="robot0:head_tilt_link" name="robot0:head_tilt_link" material="robot0:head_mat"
                          class="robot0:blue"></geom>
                    <body name="robot0:head_camera_link" pos="0.055 0 0.0225">
                        <inertial diaginertia="0 0 0" mass="0" pos="0.055 0 0.0225"></inertial>
                        <body name="robot0:head_camera_rgb_frame" pos="0 0.02 0">
                            <inertial diaginertia="0 0 0" mass="0" pos="0 0.02 0"></inertial>
                            <body name="robot0:head_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
                                <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
                                <camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0"></camera>
                            </body>
                        </body>
                        <body name="robot0:head_camera_depth_frame" pos="0 0.045 0">
                            <inertial diaginertia="0 0 0" mass="0" pos="0 0.045 0"></inertial>
                            <body name="robot0:head_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
                                <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
                            </body>
                        </body>
                    </body>
                </body>
            </body> <!-- robot arm joints start HERE -->
            <body name="robot0:shoulder_pan_link" pos="0.1195 0 0.3486">
                <inertial diaginertia="0.009 0.0086 0.0041" mass="2.5587" pos="0.0927 -0.0056 0.0564"
                          quat="-0.1364 0.7624 -0.1562 0.613"></inertial>
                <joint axis="0 0 1" name="robot0:shoulder_pan_joint" range="-1.6056 1.6056"></joint>
                <geom mesh="robot0:shoulder_pan_link" name="robot0:shoulder_pan_link" material="robot0:arm_mat" class="robot0:red"></geom>
                <body name="robot0:shoulder_lift_link" pos="0.117 0 0.06">
                    <inertial diaginertia="0.0116 0.0112 0.0023" mass="2.6615" pos="0.1432 0.0072 -0.0001"
                              quat="0.4382 0.4382 0.555 0.555"></inertial>
                    <!--                    <joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-1.221 1.518"></joint>-->
                    <joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-0.002 0.002" limited="true"></joint>
                    <geom mesh="robot0:shoulder_lift_link" name="robot0:shoulder_lift_link" material="robot0:arm_mat"
                          class="robot0:red"></geom>
                    <body name="robot0:upperarm_roll_link" pos="0.219 0 0">
                        <inertial diaginertia="0.0047 0.0045 0.0019" mass="2.3311" pos="0.1165 0.0014 0"
                                  quat="-0.0136 0.707 0.0136 0.707"></inertial>
                        <joint axis="1 0 0" limited="false" name="robot0:upperarm_roll_joint"></joint>
                        <geom mesh="robot0:upperarm_roll_link" name="robot0:upperarm_roll_link"
                              material="robot0:arm_mat"></geom>
                        <body name="robot0:elbow_flex_link" pos="0.133 0 0">
                            <inertial diaginertia="0.0086 0.0084 0.002" mass="2.1299" pos="0.1279 0.0073 0"
                                      quat="0.4332 0.4332 0.5589 0.5589"></inertial>
                            <joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-2.251 2.251"></joint>
                            <!--                            <joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-0.001 0.001" limited="true"></joint>-->
                            <geom mesh="robot0:elbow_flex_link" name="robot0:elbow_flex_link" material="robot0:arm_mat"
                                  class="robot0:blue"></geom>
                            <body name="robot0:forearm_roll_link" pos="0.197 0 0">
                                <inertial diaginertia="0.0035 0.0031 0.0015" mass="1.6563" pos="0.1097 -0.0266 0"
                                          quat="-0.0715 0.7035 0.0715 0.7035"></inertial>
                                <joint armature="2.7538" axis="1 0 0" damping="3.5247" frictionloss="0" limited="false"
                                       name="robot0:forearm_roll_joint" stiffness="10"></joint>
                                <geom mesh="robot0:forearm_roll_link" name="robot0:forearm_roll_link"
                                      material="robot0:arm_mat"></geom>
                                <body name="robot0:wrist_flex_link" pos="0.1245 0 0">
                                    <inertial diaginertia="0.0042 0.0042 0.0018" mass="1.725"
                                              pos="0.0882 0.0009 -0.0001" quat="0.4895 0.4895 0.5103 0.5103"></inertial>
                                    <joint axis="0 1 0" name="robot0:wrist_flex_joint" range="-2.16 2.16"></joint>
                                    <geom mesh="robot0:wrist_flex_link" name="robot0:wrist_flex_link"
                                          material="robot0:arm_mat" class="robot0:blue"></geom>
                                    <body name="robot0:wrist_roll_link" pos="0.1385 0 0">
                                        <inertial diaginertia="0.0001 0.0001 0.0001" mass="0.1354"
                                                  pos="0.0095 0.0004 -0.0002"></inertial>
                                        <joint axis="1 0 0" limited="false" name="robot0:wrist_roll_joint"></joint>
                                        <geom mesh="robot0:wrist_roll_link" name="robot0:wrist_roll_link"
                                              material="robot0:arm_mat"></geom>
                                        <body euler="0 0 0" name="robot0: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>
                                            <geom mesh="robot0:gripper_link" name="robot0:gripper_link"
                                                  material="robot0:gripper_mat"></geom>
                                            <body name="robot0:gripper_camera_link" pos="0.055 0 0.0225">
                                                <body name="robot0:gripper_camera_rgb_frame" pos="0 0.02 0">
                                                    <body name="robot0: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="robot0:gripper_camera_depth_frame" pos="0 0.045 0">
                                                    <body name="robot0:gripper_camera_depth_optical_frame" pos="0 0 0"
                                                          quat="0.5 -0.5 0.5 -0.5"></body>
                                                </body>
                                            </body>

                                            <body childclass="robot0:fetchGripper" name="robot0:r_gripper_finger_link"
                                                  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="robot0:r_gripper_finger_joint"
                                                       range="0 0.05"></joint>
                                                <geom pos="0 -0.008 0" size="0.0385 0.007 0.0135" type="box"
                                                      name="robot0:r_gripper_finger_link"
                                                      material="robot0:gripper_finger_mat" condim="4"
                                                      friction="1 0.05 0.01"></geom>
                                            </body>
                                            <body childclass="robot0:fetchGripper" name="robot0:l_gripper_finger_link"
                                                  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="robot0:l_gripper_finger_joint"
                                                       range="0 0.05"></joint>
                                                <geom pos="0 0.008 0" size="0.0385 0.007 0.0135" type="box"
                                                      name="robot0:l_gripper_finger_link"
                                                      material="robot0:gripper_finger_mat" condim="4"
                                                      friction="1 0.05 0.01"></geom>
                                            </body>
                                            <site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0"
                                                  size="0.02 0.02 0.02"></site>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="robot0:estop_link" pos="-0.1246 0.2389 0.3113" quat="0.7071 0.7071 0 0">
            <inertial diaginertia="0 0 0" mass="0.002" pos="0.0024 -0.0033 0.0067"
                      quat="0.3774 -0.1814 0.1375 0.8977"></inertial>
            <geom mesh="robot0:estop_link" rgba="0.8 0 0 1" name="robot0:estop_link"></geom>
        </body>
        <body name="robot0:laser_link" pos="0.235 0 0.2878" quat="0 1 0 0">
            <inertial diaginertia="0 0 0" mass="0.0083" pos="-0.0306 0.0007 0.0552"
                      quat="0.5878 0.5378 -0.4578 0.3945"></inertial>
            <geom mesh="robot0:laser_link" rgba="0.7922 0.8196 0.9333 1" name="robot0:laser_link"></geom>
            <camera euler="1.55 -1.55 3.14" fovy="25" name="lidar" pos="0 0 0.02"></camera>
        </body>
        <body name="robot0:torso_fixed_link" pos="-0.0869 0 0.3774">
            <inertial diaginertia="0.3865 0.3394 0.1009" mass="13.2775" pos="-0.0722 0.0057 0.2656"
                      quat="0.9995 0.0249 0.0177 0.011"></inertial>
            <geom mesh="robot0:torso_fixed_link" name="robot0:torso_fixed_link" class="robot0:blue"></geom>
        </body>
        <body name="robot0:external_camera_body_0" pos="0 0 0">
            <camera euler="0 0.75 1.57" fovy="43.3" name="external_camera_0" pos="1.3 0 1.2"></camera>
        </body>
    </body>
</mujoco>
