<mujoco>
	<body mocap="true" name="robot0:mocap" pos="1 1 1">
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" 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" size="1 0.005 0.005" type="box"></geom>
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 1 0.001" type="box"></geom>
		<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0" size="0.005 0.005 1" type="box"></geom>
	</body>
	<body childclass="robot0:dobot" name="robot0:base_link" pos="0 0 0.05" euler="0 0 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="1.5" pos="0 0 0"></inertial>
        <geom mesh="robot0:base_link" name="robot0:base_link" material="arm_mat" class="robot0:white"></geom>
        <body name="robot0:lift_link" pos="0 0 0.066" euler="0 0 0">
            <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.5" pos="0 0 0"></inertial>
            <geom mesh="robot0:lift_link" name="robot0:lift_link" material="arm_mat" class="robot0:white"></geom>
            <joint name="robot0:base_pan" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" limited="true"/>
            <body name="robot0:rear_arm_link" pos="0 0 0.16" quat="1 0 0 0">
                <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.85" pos="0 0 0" ></inertial>
                <geom mesh="robot0:rear_arm_link" name="robot0:rear_arm_link" pos = "0 0 0" material="arm_mat" class="robot0:white"></geom>
                <joint name="robot0:base_tilt" pos="0 0 0" axis="1 0 0" range="0 1.4835" limited="true"/>
                <body name="robot0:front_arm_link" pos="0 -0.098 0.246" euler="0 0 0">
                    <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.85" pos="0 0 0"></inertial>
                    <geom mesh="robot0:front_arm_link" name="robot0:front_arm_link" pos = "0 0 0" material="arm_mat" class="robot0:white"></geom>
                    <joint name="robot0:elbow_flex" pos="0 0 0" axis="1 0 0" range="-1.658 0.174" limited="true"/>
                    <body name="robot0:gripper_link" pos="0 -0.26 -0.136" euler="0 0 0">
                        <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.3294" pos="0 0 0"></inertial>
                        <geom mesh="robot0:gripper_link" name="robot0:gripper_link" pos = "0 0 0" material="gripper_mat" class="robot0:white"></geom>
                        <joint name="robot0:wrist_flex" pos="0 0 0" axis="1 0 0"/>
                        <body name="robot0:gripper">
                            <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.1" pos="0 0 0"></inertial>
                            <joint name="robot0:gripper_rot" pos="0 -0.123 -0.12" axis="0 0 1"/>
                            <site name="robot0:grip" pos="0 -0.123 -0.153" rgba="1 1 1 1" size="0.02 0.02 0.02"></site>
                            <body childclass="robot0:dobotGripper" name="robot0:l_gripper_link" pos="0 -0.1425 -0.09" euler="0 0 0">
                                <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.3294" pos="0 0 0"></inertial>
                                <geom mesh="robot0:l_gripper_link" name="robot0:l_gripper_link" pos = "0 0 0" material="gripper_mat" class="robot0:white"></geom>
                                <joint name="robot0:l_gripper_joint" type="slide" axis="0 1 0" limited="true" range="-0.025 0"/>
                            </body>
                            <body childclass="robot0:dobotGripper" name="robot0:r_gripper_link" pos="0 -0.1025 -0.09" euler="0 0 0">
                                <inertial diaginertia="1.2869 1.2236 0.9868" mass="0.3294" pos="0 0 0"></inertial>
                                <geom mesh="robot0:r_gripper_link" name="robot0:r_gripper_link" pos = "0 0 0" material="gripper_mat" class="robot0:white"></geom>
                                <joint name="robot0:r_gripper_joint" type="slide" axis="0 1 0" limited="true" range = "0 0.025"/>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
	</body>
</mujoco>
