<mujoco model="pr2_model">
    <worldbody name="base">
        <body name="pr2" pos="0 0 0.5">
            <joint axis="1 0 0" name="robot_x" type="slide" pos="0 0 0" armature="0.02"/>
            <joint axis="0 1 0" name="robot_y" type="slide" pos="0 0 0" armature="0.02"/>
            <joint axis="0 0 1" name="robot_theta" type="hinge" pos="0 0 0" armature="0.001" limited="true" range="-3.15 3.15"/>
            <geom name="pr2" type="cylinder" size="0.275 0.45" />
            <inertial pos="0 0 0" mass="10" diaginertia="0.001 0.001 0.001" />
            <body name="right_finger" pos="-0.35 0.65 0" euler="0 0 0">
                <inertial pos="0 0 0" mass="3" diaginertia="0.001 0.001 0.001" />
                <joint name="right_finger_joint" axis="1 0 0" limited="true" range="-0.1 0.1" type="slide" solreflimit="0.02 0.9" solimplimit="0.95 1. 0.0001" armature="0.005" />
                <geom pos="0 0 0" size="0.05 0.3495 0.45" type="box" friction="1.9 0.95 0.0005" />
            </body>
            <body name="left_finger" pos="0.35 0.65 0" euler="0 0 0">
                <inertial pos="0 0 0" mass="3" diaginertia="0.001 0.001 0.001" />
                <joint name="left_finger_joint" axis="-1 0 0" limited="true" range="-0.1 0.1" type="slide" solreflimit="0.02 0.9" solimplimit="0.95 1. 0.0001" armature="0.005" />
                <geom pos="0 0 0" size="0.05 0.3495 0.45" type="box" friction="1.9 0.95 0.0005" />
            </body>
        </body>
    </worldbody>

    <actuator>
        <velocity kv="1500" joint="robot_x" name="robot_x" ctrllimited="true" ctrlrange="-20 20" />
        <velocity kv="1500" joint="robot_y" name="robot_y" ctrllimited="true" ctrlrange="-20 20" />
        <velocity kv="200" joint="robot_theta" name="robot_theta" ctrllimited="true" ctrlrange="-20 20" />
        <motor gear="200" joint="left_finger_joint" name="left_grip" ctrllimited="true" ctrlrange="-5000 5000" />
        <motor gear="200" joint="right_finger_joint" name="right_grip" ctrllimited="true" ctrlrange="-5000 5000" />
    </actuator>
</mujoco>
