<mujoco model="baxter">
  <size nconmax="250" njmax="795" nstack="631875" />
  <asset>
    <mesh file="robot_info/meshes/baxter/torso/base_link.STL" name="base_link" />
    <mesh file="robot_info/meshes/baxter/torso/base_link_collision.STL" name="base_link_collision" />
    <mesh file="robot_info/meshes/baxter/base/PEDESTAL.STL" name="PEDESTAL" />
    <mesh file="robot_info/meshes/baxter/base/pedestal_link_collision.STL" name="pedestal_link_collision" />
    <mesh file="robot_info/meshes/baxter/head/H0.STL" name="H0" />
    <mesh file="robot_info/meshes/baxter/head/H1.STL" name="H1" />
    <mesh file="robot_info/meshes/baxter/upper_shoulder/S0.STL" name="S0" />
    <mesh file="robot_info/meshes/baxter/lower_shoulder/S1.STL" name="S1" />
    <mesh file="robot_info/meshes/baxter/upper_elbow/E0.STL" name="E0" />
    <mesh file="robot_info/meshes/baxter/lower_elbow/E1.STL" name="E1" />
    <mesh file="robot_info/meshes/baxter/upper_forearm/W0.STL" name="W0" />
    <mesh file="robot_info/meshes/baxter/lower_forearm/W1.STL" name="W1" />
    <mesh file="robot_info/meshes/baxter/wrist/W2.STL" name="W2" />
    <mesh file="robot_info/meshes/baxter/electric_gripper/fingers/paddle_tip.STL" name="paddle_tip" />
    <mesh file="robot_info/meshes/baxter/electric_gripper/fingers/half_round_tip.STL" name="half_round_tip" />
    <mesh file="robot_info/meshes/baxter/electric_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
    <mesh file="robot_info/meshes/baxter/electric_gripper/fingers/extended_narrow.STL" name="extended_narrow" />
    
  </asset>

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

  <default>
    <default class="viz">
      <geom conaffinity="0" contype="0" group="1" margin="0.001" type="mesh" />
    </default>
    <geom condim="6" solimp="0.99 0.99 0.01" solref="0.01 1" />
  </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 ambient="0 0 0" cutoff="90" diffuse="1 1 1" dir="-1 0 -2.5" directional="false" exponent="1" pos="1 0 1.5" specular="0 0 0" />
    <geom name="ground" pos="0 0 -0.925" rgba="0.7 0.6 0.5 1" size="4 4 .05" type="plane" />
    <camera name="overhead_camera" pos="0.5 0.0 1.75" quat="0.707 0 0 -0.707" />
    
    <camera name="forward_camera" pos="2.5 0.0 0.35" quat="0.5 0.5 0.5 0.5" />

    <body name="base" pos="0 0 0">
      <inertial diaginertia="0.001 0.001 0.001" mass="10" pos="0 0 0" />
      <body name="collision_head_link_1" pos="0.11 0 0.75">
        <inertial diaginertia="1e-008 1e-008 1e-008" mass="0.0001" pos="0 0 0" />
        <geom class="viz" margin="0.001" pos="0 0 0" rgba="0.8 0.3 0.3 0.3" size="0.001" type="sphere" />
        <geom margin="0.001" pos="-0.07 -0.04 0" rgba="0.8 0.3 0.3 0.3" size="0.22" type="sphere" />
      </body>
      <body name="collision_head_link_2" pos="0.11 0 0.75">
        <inertial diaginertia="1e-008 1e-008 1e-008" mass="0.0001" pos="0 0 0" />
        <geom margin="0.001" pos="0 0 0" rgba="0.8 0.3 0.3 0.3" size="0.001" type="sphere" />
        <geom margin="0.001" pos="-0.07 0.04 0" rgba="0.8 0.3 0.3 0.3" size="0.22" type="sphere" />
      </body>
      <body name="torso" pos="0 0 0">
        <inertial diaginertia="1.87139 1.66268 0.779991" mass="35.3365" pos="0 0 0" quat="0.997433 0.00167178 0.0715546 -0.00209003" />
        <geom class="viz" margin="0.001" mesh="base_link" />
        <geom class="viz" margin="0.001" mesh="base_link_collision" type="mesh" />
        <body name="pedestal" pos="0 0 0">
          <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
          <geom class="viz" margin="0.001" mesh="PEDESTAL" rgba="0.2 0.2 0.2 1" />
          <geom margin="0.001" pos="-.04 0 -.8" rgba="0.2 0.2 0.2 1" size=".46 .425 .16" type="box" />
          <geom margin="0.001" pos="0 0 -.35" rgba="0.2 0.2 0.2 1" size=".165 .25" type="capsule" />
        </body>
        <body name="head" pos="0.06 0 0.686">
          <inertial diaginertia="0.00474065 0.00461087 0.00199949" mass="0.547767" pos="0 0 0" quat="0.339345 0.850736 -0.347392 0.201027" />
          <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="head_pan" pos="0 0 0" range="-1.5708 1.5708" type="hinge" />
          <geom class="viz" margin="0.001" mesh="H0" rgba="0.2 0.2 0.2 1" />
          <body name="screen" pos="0.1227 0 0" quat="0.453099 0.542864 0.542864 0.453099">
            <inertial diaginertia="0.0040484 0.00275826 0.00150834" mass="0.440171" pos="0 0 0" quat="0.995785 0.0113501 -0.000390852 0.0910132" />
            <geom class="viz" euler="0 -1.57 0" margin="0.001" mesh="H1" pos="0 0 -.03" rgba="0.5 0.1 0.1 1" />
            <geom class="viz" margin="0.001" name="display" pos="0 -0.016 0" quat="0.991445 0.130526 0 0" rgba=".9 .9 .9 1" size="0.109 0.08 0.002" type="box" />
          </body>
        </body>
        <body name="right_arm_mount" pos="0.024645 -0.219645 0.118588" quat="0.923879 0 0 -0.382684">
          <inertial diaginertia="1e-008 1e-008 1e-008" mass="0.0001" pos="0 0 0" />
          <body name="right_upper_shoulder" pos="0.055695 0 0.011038">
            <inertial diaginertia="0.0498344 0.0377511 0.0331351" mass="5.70044" pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" />
            <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_s0" pos="0 0 0" range="-1.70168 1.70168" type="hinge" />
            <geom class="viz" margin="0.001" mesh="S0" rgba="0.5 0.1 0.1 1" />
            <geom margin="0.001" pos="0 0 0.1361" rgba="0.5 0.1 0.1 1" size="0.06 0.1361" type="cylinder" />
            <body name="right_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
              <inertial diaginertia="0.0278991 0.0212327 0.0112937" mass="3.22698" pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" />
              <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_s1" pos="0 0 0" range="-2.147 1.047" type="hinge" />
              <geom class="viz" margin="0.001" mesh="S1" rgba="0.5 0.1 0.1 1" />
              <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.06" type="cylinder" />
              <body name="right_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                <inertial diaginertia="0.0287695 0.0273625 0.011409" mass="4.31272" pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" />
                <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_e0" pos="0 0 0" range="-3.05418 3.05418" type="hinge" />
                <geom class="viz" margin="0.001" mesh="E0" rgba="0.5 0.1 0.1 1" />
                <geom margin="0.001" pos="0 0 -0.0535" rgba="0.5 0.1 0.1 1" size="0.06 0.0535" type="cylinder" />
                <geom class="viz" margin="0.001" name="right_upper_elbow_visual" pos="0 0 0.1365" size="0.06 0.1365" type="cylinder" />
                <body name="right_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                  <inertial diaginertia="0.0132096 0.00950002 0.00685697" mass="2.07206" pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" />
                  <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_e1" pos="0 0 0" range="-0.05 2.618" type="hinge" />
                  <geom class="viz" margin="0.001" mesh="E1" rgba="0.5 0.1 0.1 1" />
                  <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                  <body name="right_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                    <inertial diaginertia="0.016916 0.0165511 0.00371123" mass="2.24665" pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" />
                    <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_w0" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                    <geom class="viz" margin="0.001" mesh="W0" rgba="0.5 0.1 0.1 1" />
                    <geom margin="0.001" pos="0 0 -0.044" rgba="0.5 0.1 0.1 1" size="0.06 0.044" type="cylinder" />
                    <geom class="viz" margin="0.001" name="right_upper_forearm_visual" pos="0 0 0.1" size="0.06 0.1036" type="cylinder" />
                    <body name="right_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                      <inertial diaginertia="0.00708828 0.00552689 0.00379383" mass="1.60979" pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" />
                      <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_w1" pos="0 0 0" range="-1.5708 2.094" type="hinge" />
                      <geom class="viz" margin="0.001" mesh="W1" rgba="0.5 0.1 0.1 1" />
                      <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                      <body name="right_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                        <inertial diaginertia="0.0003082 0.000269928 0.000251035" mass="0.35093" pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" />
                        <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="right_w2" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                        <geom class="viz" margin="0.001" mesh="W2" rgba="0.1 0.1 0.1 1" />
                        <geom margin="0.001" pos="0 0 0" rgba="0.1 0.1 0.1 1" size="0.06 0.0825" type="cylinder" />
                        <body name="right_hand" pos="0 0 0.11355">
                          <inertial diaginertia="0.000246058 0.000211549 0.000167391" mass="0.19125" pos="0.01093 0.00042 -0.01532" quat="0.025365 0.814618 0.0196357 0.579109" />
                          <geom pos="0 0 -0.0232" size="0.04 0.0232" type="cylinder" />
                          
                          <body name="right_gripper_base" pos="0 0 0.025">
                            <camera euler="0 -3.14 1.57" name="right_camera" pos="-0.025 0.0 0.02" />
                            <inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
                            <geom class="viz" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" />
                            <geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
                            <body name="right_gripper" pos="0 0 0.1">
                                <inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
                            </body>
                            
                            <body name="right_gripper_l_finger" pos="0 -0.0015 0.02">
                              <inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
                              <joint armature=".01" axis="0 1 0" damping="0" limited="true" name="right_gripper_l_finger_joint" pos="0 0 0" range="0 0.030833" type="slide" />
                              
                              
                              
                              <body name="right_gripper_l_finger_tip" pos="0 0.01725 0.1127">
                                <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
                                <geom class="viz" euler="-1.57 0 0" mesh="half_round_tip" pos="-.007 -.01 0.003" />
                                
                                <geom pos="0 -0.0045 -0.05" quat="0 0 0 1" rgba="0 0 0 0" size="0.03 0.015 0.06" type="box" />
                              </body>
                            </body>
                            <body name="right_gripper_r_finger" pos="0 0.0015 0.02">
                              <inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
                              <joint armature=".01" axis="0 -1 0" damping="0" limited="true" name="right_gripper_r_finger_joint" pos="0 0 0" range="0 0.030833" type="slide" />
                              
                              
                              
                              <body name="right_gripper_r_finger_tip" pos="0 -0.01725 0.1127">
                                <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
                                <geom class="viz" euler="-1.57 3.14 0" mesh="half_round_tip" pos=".007 .01 0.003" />
                                
                                <geom pos="0 0.0045 -0.05" quat="0 0 0 1" rgba="0 0 0 0" size="0.03 0.015 0.06" 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 diaginertia="1e-008 1e-008 1e-008" mass="0.0001" pos="0 0 0" />
          <body name="left_upper_shoulder" pos="0.055695 0 0.011038">
            <inertial diaginertia="0.0498344 0.0377511 0.0331351" mass="5.70044" pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" />
            <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_s0" pos="0 0 0" range="-1.70168 1.70168" type="hinge" />
            <geom class="viz" margin="0.001" mesh="S0" rgba="0.5 0.1 0.1 1" />
            <geom margin="0.001" pos="0 0 0.1361" rgba="0.5 0.1 0.1 1" size="0.06 0.1361" type="cylinder" />
            <body name="left_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
              <inertial diaginertia="0.0278991 0.0212327 0.0112937" mass="3.22698" pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" />
              <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_s1" pos="0 0 0" range="-2.147 1.047" type="hinge" />
              <geom class="viz" margin="0.001" mesh="S1" rgba="0.5 0.1 0.1 1" />
              <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.06" type="cylinder" />
              <body name="left_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                <inertial diaginertia="0.0287695 0.0273625 0.011409" mass="4.31272" pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" />
                <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_e0" pos="0 0 0" range="-3.05418 3.05418" type="hinge" />
                <geom class="viz" margin="0.001" mesh="E0" rgba="0.5 0.1 0.1 1" />
                <geom margin="0.001" pos="0 0 -0.0535" rgba="0.5 0.1 0.1 1" size="0.06 0.0535" type="cylinder" />
                <geom class="viz" margin="0.001" name="left_upper_elbow_visual" pos="0 0 0.1365" size="0.06 0.1365" type="cylinder" />
                <body name="left_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                  <inertial diaginertia="0.0132096 0.00950002 0.00685697" mass="2.07206" pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" />
                  <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_e1" pos="0 0 0" range="-0.05 2.618" type="hinge" />
                  <geom class="viz" margin="0.001" mesh="E1" rgba="0.5 0.1 0.1 1" />
                  <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                  <body name="left_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                    <inertial diaginertia="0.016916 0.0165511 0.00371123" mass="2.24665" pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" />
                    <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w0" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                    <geom class="viz" margin="0.001" mesh="W0" rgba="0.5 0.1 0.1 1" />
                    <geom margin="0.001" pos="0 0 -0.044" rgba="0.5 0.1 0.1 1" size="0.06 0.044" type="cylinder" />
                    <geom class="viz" margin="0.001" name="left_upper_forearm_visual" pos="0 0 0.136" size="0.06 0.136" type="cylinder" />
                    <body name="left_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                      <inertial diaginertia="0.00708828 0.00552689 0.00379383" mass="1.60979" pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" />
                      <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w1" pos="0 0 0" range="-1.5708 2.094" type="hinge" />
                      <geom class="viz" margin="0.001" mesh="W1" rgba="0.5 0.1 0.1 1" />
                      <geom margin="0.001" pos="0 0 0" rgba="0.5 0.1 0.1 1" size="0.06 0.05" type="cylinder" />
                      <body name="left_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                        <inertial diaginertia="0.0003082 0.000269928 0.000251035" mass="0.35093" pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" />
                        <joint armature=".01" axis="0 0 1" damping="0" limited="true" name="left_w2" pos="0 0 0" range="-3.059 3.059" type="hinge" />
                        <geom class="viz" margin="0.001" mesh="W2" rgba="0.1 0.1 0.1 1" />
                        <geom margin="0.001" pos="0 0 0" rgba="0.1 0.1 0.1 1" size="0.06 0.0825" type="cylinder" />
                        <body name="left_hand" pos="0 0 0.11355">
                          <inertial diaginertia="0.000246058 0.000211549 0.000167391" mass="0.19125" pos="0.01093 0.00042 -0.01532" quat="0.025365 0.814618 0.0196357 0.579109" />
                          <geom pos="0 0 -0.0232" size="0.04 0.0232" type="cylinder" />
                          
                          <body name="left_gripper_base" pos="0 0 0.025">
                            <camera euler="0 -3.14 1.57" name="left_camera" pos="-0.025 0.0 0.02" />
                            <inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
                            <geom class="viz" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" />
                            <geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
                            <body name="left_gripper" pos="0 0 0.1">
                                <inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
                            </body>
                            
                            <body name="left_gripper_l_finger" pos="0 -0.0015 0.02">
                                <joint armature=".01" axis="0 1 0" damping="0" limited="true" name="left_gripper_l_finger_joint" pos="0 0 0" range="0 0.030833" type="slide" />
                                
                                
                                
                                <body name="left_gripper_l_finger_tip" pos="0 0.01725 0.1127">
                                    <geom class="viz" euler="-1.57 0 0" mesh="paddle_tip" pos="-.02 -.009 0.003" />
                                    <geom pos="0 -0.0045 -0.05" quat="0 0 0 1" rgba="0 0 0 0" size="0.03 0.015 0.06" type="box" />
                                </body>
                            </body>
                            <body name="left_gripper_r_finger" pos="0 0.0015 0.02">
                                <joint armature=".01" axis="0 -1 0" damping="0" limited="true" name="left_gripper_r_finger_joint" pos="0 0 0" range="0 0.030833" type="slide" />
                                
                                
                                
                                <body name="left_gripper_r_finger_tip" pos="0 -0.01725 0.1127">
                                    <geom class="viz" euler="-1.57 3.14 0" mesh="paddle_tip" pos=".02 .009 0.003" />
                                    
                                    <geom pos="0 0.0045 -0.05" quat="0 0 0 1" rgba="0 0 0 0" size="0.03 0.015 0.06" type="box" />
                                </body>
                            </body> 
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
    
  <body name="free_body_cloth0">
                    <freejoint name="cloth0" />
                    <body name="cloth0" pos="0 0 0" quat="1 0 0 0">
                        <geom friction="1 1 0.01" name="cloth0" rgba="0 0 0.5 1 " size="0.02 0.02 0.02 " type="box" />
                    </body>
                </body><body name="free_body_cloth0_end_target">
                    <freejoint name="cloth0_end_target" />
                    <body name="cloth0_end_target" pos="0 0 0" quat="1 0 0 0">
                        <geom friction="1 1 0.01" name="cloth0_end_target" rgba="0 0 0.5 1 " size="0.04 0.04 0.001 " type="box" />
                    </body>
                </body></worldbody>

  <actuator>

    <velocity ctrllimited="true" ctrlrange="-2 2" joint="right_s0" kv="60" />
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="right_s1" kv="100" /> 
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="right_e0" kv="20" />
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="right_e1" kv="20" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="right_w0" kv="5" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="right_w1" kv="5" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="right_w2" kv="5" />
    
    <motor ctrllimited="true" ctrlrange="-500 500" joint="right_gripper_l_finger_joint" />
    <motor ctrllimited="true" ctrlrange="-500 500" joint="right_gripper_r_finger_joint" />


    
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="left_s0" kv="60" />
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="left_s1" kv="100" /> 
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="left_e0" kv="20" />
    <velocity ctrllimited="true" ctrlrange="-2 2" joint="left_e1" kv="20" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="left_w0" kv="5" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="left_w1" kv="5" />
    <velocity ctrllimited="true" ctrlrange="-4 4" joint="left_w2" kv="5" />
    
    <motor ctrllimited="true" ctrlrange="-500 500" joint="left_gripper_l_finger_joint" />
    <motor ctrllimited="true" ctrlrange="-500 500" joint="left_gripper_r_finger_joint" />


    
</actuator>

<compiler angle="radian" coordinate="local" meshdir="/home/michaelmcdonald/Documents/BaxterGym/baxter_gym/" strippath="false" texturedir="textures/" /><option gravity="0 0 -9.81" integrator="Euler" noslip_iterations="0" solver="Newton" timestep="0.002" /></mujoco>