<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 armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"/>
		<joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"/>
		<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"/>
		<geom mesh="robot0:base_link" name="robot0:base_link" material="robot0:base_mat" class="robot0:grey"/>
		<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"/>
			<joint axis="0 0 1" damping="1e+07" name="robot0:torso_lift_joint" range="0.0386 0.3861" type="slide"/>
			<geom mesh="robot0:torso_lift_link" name="robot0:torso_lift_link" material="robot0:torso_mat"/>
			<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"/>
				<joint axis="0 0 1" name="robot0:head_pan_joint" range="-1.57 1.57"/>
				<geom mesh="robot0:head_pan_link" name="robot0:head_pan_link" material="robot0:head_mat" class="robot0:grey"/>
				<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"/>
					<joint axis="0 1 0" damping="1000" name="robot0:head_tilt_joint" range="-0.76 1.45" ref="0.06"/>
					<geom mesh="robot0:head_tilt_link" name="robot0:head_tilt_link" material="robot0:head_mat" class="robot0:blue"/>
					<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"/>
						<body name="robot0:head_camera_rgb_frame" pos="0 0.02 0">
							<inertial diaginertia="0 0 0" mass="0" pos="0 0.02 0"/>
							<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"/>
								<camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0"/>
							</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"/>
							<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"/>
							</body>
						</body>
					</body>
				</body>
			</body>
			<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"/>
				<joint axis="0 0 1" name="robot0:shoulder_pan_joint" range="-1.6056 1.6056"/>
				<geom mesh="robot0:shoulder_pan_link" name="robot0:shoulder_pan_link" material="robot0:arm_mat"/>
				<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"/>
					<joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-1.221 1.518"/>
					<geom mesh="robot0:shoulder_lift_link" name="robot0:shoulder_lift_link" material="robot0:arm_mat" class="robot0:blue"/>
					<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"/>
						<joint axis="1 0 0" limited="false" name="robot0:upperarm_roll_joint"/>
						<geom mesh="robot0:upperarm_roll_link" name="robot0:upperarm_roll_link" material="robot0:arm_mat"/>
						<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"/>
							<joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-2.251 2.251"/>
							<geom mesh="robot0:elbow_flex_link" name="robot0:elbow_flex_link" material="robot0:arm_mat" class="robot0:blue"/>
							<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"/>
								<joint armature="2.7538" axis="1 0 0" damping="3.5247" frictionloss="0" limited="false" name="robot0:forearm_roll_joint" stiffness="10"/>
								<geom mesh="robot0:forearm_roll_link" name="robot0:forearm_roll_link" material="robot0:arm_mat"/>
								<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"/>
									<joint axis="0 1 0" name="robot0:wrist_flex_joint" range="-2.16 2.16"/>
									<geom mesh="robot0:wrist_flex_link" name="robot0:wrist_flex_link" material="robot0:arm_mat" class="robot0:blue"/>
									<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"/>
										<joint axis="1 0 0" limited="false" name="robot0:wrist_roll_joint"/>
										<geom mesh="robot0:wrist_roll_link" name="robot0:wrist_roll_link" material="robot0:arm_mat"/>
										<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"/>
											<geom mesh="robot0:gripper_link" name="robot0:gripper_link" material="robot0:gripper_mat"/>
											<body name="robot0:gipper_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"/>
													</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 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"/>
												<joint axis="0 1 0" name="robot0:r_gripper_finger_joint" range="0 0.05"/>
												<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"/>
											</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"/>
												<joint axis="0 -1 0" name="robot0:l_gripper_finger_joint" range="0 0.05"/>
												<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"/>
											</body>
											<site name="robot0:grip" pos="0.02 0 0.04" rgba="0 0 0 0" size="0.02 0.02 0.02"/>
											<body name="blocker" pos="0.02 0 0.04">
												<!--<inertial diaginertia="0 0 0" mass="0.1" pos="0 0 0"/>-->
												<geom pos="0 0 0" size="0.075 0.075 0.005" type="box" name="block" condim="1" rgba="0.356 0.361 0.376 1.0" friction="0 0 0" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
											</body>
										</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"/>
			<geom mesh="robot0:estop_link" rgba="0.8 0 0 1" name="robot0:estop_link"/>
		</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"/>
			<geom mesh="robot0:laser_link" rgba="0.7922 0.8196 0.9333 1" name="robot0:laser_link"/>
			<camera euler="1.55 -1.55 3.14" fovy="25" name="lidar" pos="0 0 0.02"/>
		</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"/>
			<geom mesh="robot0:torso_fixed_link" name="robot0:torso_fixed_link" class="robot0:blue"/>
		</body>
		<body name="robot0:external_camera_body_0" pos="0 0 0">
			<!--<geom pos="1. -0.9 0.8" size="0.03 0.03 0.03" type="box" name="cam" rgba="0 0 0 1"/>-->
			<!--material="table_mat"-->
			<!--<camera name="fixed" pos="0.8 -2.5 0.8" quat="1 1 0 0"/>-->
			<!--<camera name="fixed" pos="0.9 -1.6 1.5" quat="1 0.7 0 0"/>-->
			<camera name="fixed" pos="1. -1.4 1.0" quat="1 1 0 0"/>
			<!--<camera euler="0. 1.57 1.57" fovy="43.3" name="external_camera_0" pos="2.3 0 0.8"></camera>-->
		</body>

		<body name="robot0:external_camera_top" pos="0 0 0">
			<!--<camera name="fixed" pos="0.8 -2.5 0.8" quat="1 1 0 0"/>-->
			<!--<camera name="fixed" pos="0.9 -1.6 1.5" quat="1 0.7 0 0"/>-->
			<camera name="top" pos="1. 0. 2.5" quat="1 0 0 0"/>
			<!--<camera euler="0. 1.57 1.57" fovy="43.3" name="external_camera_0" pos="2.3 0 0.8"></camera>-->
		</body>

		<body name="robot0:external_camera_top_wide" pos="0 0 0">
			<!--<camera name="fixed" pos="0.8 -2.5 0.8" quat="1 1 0 0"/>-->
			<!--<camera name="fixed" pos="0.9 -1.6 1.5" quat="1 0.7 0 0"/>-->
			<camera name="top_w" pos="2.8 -1.3 1.3" euler="1.3 1.0 0.2" fovy="35"/>
			<!--<camera euler="0 0.75 1.57" fovy="43.3" name="external_camera_0" pos="2.8 0 2.2"></camera>-->
			<!--<camera euler="0. 1.57 1.57" fovy="43.3" name="external_camera_0" pos="2.3 0 0.8"></camera>-->
		</body>

		<!--<body name="robot0:external_camera_top_wide" pos="0 0 0">-->
			<!--&lt;!&ndash;<camera name="fixed" pos="0.8 -2.5 0.8" quat="1 1 0 0"/>&ndash;&gt;-->
			<!--&lt;!&ndash;<camera name="fixed" pos="0.9 -1.6 1.5" quat="1 0.7 0 0"/>&ndash;&gt;-->
			<!--<camera name="top_w" pos="1. 0. 3." quat="1 0 0 0"/>-->
			<!--&lt;!&ndash;<camera euler="0. 1.57 1.57" fovy="43.3" name="external_camera_0" pos="2.3 0 0.8"></camera>&ndash;&gt;-->
		<!--</body>-->
	</body>
</mujoco>
