<mujoco model="sawyer">
    <actuator>
    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="right_j0" name="torq_right_j0" />
    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="right_j1" name="torq_right_j1" />
    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="right_j2" name="torq_right_j2" />
    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="right_j3" name="torq_right_j3" />
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j4" name="torq_right_j4" />
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j5" name="torq_right_j5" />
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j6" name="torq_right_j6" />
    </actuator>
    <asset>
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
    	<mesh file="/home/lthpc/Desktop/meta-role/robosuite/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
    </asset>
    <worldbody>
    	<body name="base" pos="0 0 0">
			
			<camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653" />
    		<inertial diaginertia="0 0 0" mass="0.0" pos="0 0 0" />
            
    		<body name="right_arm_base_link" pos="0 0 0">
    			<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="1.8618300000000003" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
    			<geom conaffinity="0" contype="0" group="1" mesh="base" name="base_vis" rgba="0.5 0.1 0.1 1" type="mesh" />
    			<geom name="base_col" pos="0 0 0.12" rgba="" size="0.08 0.12" type="cylinder" />
    			<body name="right_l0" pos="0 0 0.08">
    				<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="4.78917" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
    				<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
    				<geom conaffinity="0" contype="0" group="1" mesh="l0" name="link0_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    				<geom name="link0_collision" pos="0.08 0 0.23" rgba="" size="0.07" />
    				<body name="head" pos="0 0 0.2965">
    					<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.4215499999999999" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
    					
    					
    					<geom conaffinity="0" contype="0" group="1" mesh="head" name="head_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    					<geom name="head_collision" pos="0 0 0.08" rgba="" size="0.018" />
    					<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
    						<inertial diaginertia="1e-08 1e-08 1e-08" mass="9e-05" pos="0 0 0" />
    						<geom conaffinity="0" contype="0" group="1" name="screen_visual" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
    						<geom name="screen_collision" rgba="" size="0.001" />
    					</body>
    					<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
    						<inertial diaginertia="0 0 0" mass="0.0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
    					</body>
    				</body>
    				<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
    					<inertial diaginertia="1e-08 1e-08 1e-08" mass="9e-05" pos="0 0 0" />
    				</body>
    				<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
    					<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.0545" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
    					<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
    					<geom conaffinity="0" contype="0" group="1" mesh="l1" name="link1_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    					<geom name="link1_collision" pos="0 0 0.1225" rgba="" size="0.07" />
    					<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
    						<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.5705000000000002" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
    						<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
    						<geom conaffinity="0" contype="0" group="1" mesh="l2" name="link2_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    						<geom name="link2_collision" pos="0 0 0.08" rgba="" size="0.06 0.17" type="cylinder" />
    						<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
    							<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.25873" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
    							<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
    							<geom conaffinity="0" contype="0" group="1" mesh="l3" name="link3_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    							<geom name="link3_collision" pos="0 -0.01 -0.12" rgba="" size="0.06" />
    							<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
    								<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.22496" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
    								<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
    								<geom conaffinity="0" contype="0" group="1" mesh="l4" name="link4_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    								<geom name="link4_collision" pos="0 0 0.11" rgba="" size="0.045 0.15" type="cylinder" />
    								<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
    									<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.00011000000000000002" pos="0 0 0" />
    								</body>
    								<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
    									<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.7187500000000002" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
    									<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
    									<geom conaffinity="0" contype="0" group="1" mesh="l5" name="link5_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    									<geom name="link5_collision" pos="0 0 0.1" rgba="" size="0.06" />
    									<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
    										<inertial diaginertia="0 0 0" mass="0.0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
    									</body>
    									<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
    										<inertial diaginertia="0 0 0" mass="0.0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
    									</body>
    									<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
    										<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.36212" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
    										<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
    										<geom conaffinity="0" contype="0" group="1" mesh="l6" name="link6_visual" rgba="0.5 0.1 0.1 1" type="mesh" />
    										<geom name="link6_collision" pos="0 0.015 -0.01" rgba="" size="0.055 0.025" type="cylinder" />
    										<body name="right_hand" pos="0 0 0.024" quat="0.707105 0 0 0.707108">
    											
												
												
												<site group="1" name="ee" pos="0 0 0" rgba="0 0 1 1" size="0.01 0.01 0.01" type="sphere" />
												<site group="1" name="ee_x" pos="0 0 0" quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" size="0.005 .1" type="cylinder" />
												<site group="1" name="ee_z" pos="0 0 0" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" size="0.005 .1" type="cylinder" />
												<site group="1" name="ee_y" pos="0 0 0" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" size="0.005 .1" type="cylinder" />
												
                								<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" />
    											
    										</body>
    									</body>
    								</body>
    								<body name="right_l4_2" pos="0 0 0">
    									<inertial diaginertia="1e-08 1e-08 1e-08" mass="1.1000000000000001e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
    									<geom name="right_l4_2" pos="0 0.01 0.26" rgba="" size="0.06" />
    								</body>
    							</body>
    						</body>
    						<body name="right_l2_2" pos="0 0 0">
    							<inertial diaginertia="1e-08 1e-08 1e-08" mass="1.1000000000000001e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
    							<geom name="right_l2_2" pos="0 0 0.26" rgba="" size="0.06" />
    						</body>
    					</body>
    					<body name="right_l1_2" pos="0 0 0">
    						<inertial diaginertia="1e-08 1e-08 1e-08" mass="1.1000000000000001e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
    						<geom name="right_l1_2" pos="0 0 0.035" rgba="" size="0.07 0.07" type="cylinder" />
    					</body>
    				</body>
    			</body>
    		</body>
    	</body>
    </worldbody>
<sensor /><tendon /><equality /><contact /><default /></mujoco>