<mujoco model="hsrb">
    <size njmax="795" nconmax="250" nstack="631875" />
    <option timestep="0.002"  gravity="0 0 -9.81" solver="Newton" noslip_iterations="0"/>
    <asset>
        <mesh name="base_light" file="hsr/hsr_meshes/base_v2/base_light.stl"/>
        <mesh name="body_light" file="hsr/hsr_meshes/base_v2/body_light.stl"/>
        <mesh name="torso_base" file="hsr/hsr_meshes/base_v2/torso_base.stl"/>
        <mesh name="base" file="hsr/hsr_meshes/base_v2/base.stl"/>
        <mesh name="laser" file="hsr/hsr_meshes/sensors/laser.stl"/>
        <mesh name="torso_light" file="hsr/hsr_meshes/torso_v0/torso_light.stl"/>
        <mesh name="torso" file="hsr/hsr_meshes/torso_v0/torso.stl"/>
        <mesh name="head_pan" file="hsr/hsr_meshes/head_v1/head_pan.stl"/>
        <mesh name="head_upper" file="hsr/hsr_meshes/head_v1/head_upper.stl"/>
        <mesh name="head_tilt" file="hsr/hsr_meshes/head_v1/head_tilt.stl"/>
        <mesh name="tablet_base" file="hsr/hsr_meshes/head_v1/tablet_base.stl"/>
        <mesh name="head" file="hsr/hsr_meshes/head_v1/head.stl"/>
        <mesh name="tablet" file="hsr/hsr_meshes/head_v1/tablet.stl"/>
        <mesh name="head_camera" file="hsr/hsr_meshes/sensors/head_camera.stl"/>
        <mesh name="rgbd_light" file="hsr/hsr_meshes/sensors/rgbd_light.stl"/>
        <mesh name="rgbd" file="hsr/hsr_meshes/sensors/rgbd.stl"/>
        <mesh name="shoulder" file="hsr/hsr_meshes/arm_v0/shoulder.stl"/>
        <mesh name="arm_flex_light" file="hsr/hsr_meshes/arm_v0/arm_flex_light.stl"/>
        <mesh name="arm_flex" file="hsr/hsr_meshes/arm_v0/arm_flex.stl"/>
        <mesh name="arm_roll_light" file="hsr/hsr_meshes/arm_v0/arm_roll_light.stl"/>
        <mesh name="arm_roll" file="hsr/hsr_meshes/arm_v0/arm_roll.stl"/>
        <mesh name="wrist_flex" file="hsr/hsr_meshes/wrist_v0/wrist_flex.stl"/>
        <mesh name="wrist_roll" file="hsr/hsr_meshes/wrist_v0/wrist_roll.stl"/>
        <mesh name="palm" file="hsr/hsr_meshes/hand_v0/palm.stl"/>
        <mesh name="l_proximal" file="hsr/hsr_meshes/hand_v0/l_proximal.stl"/>
        <mesh name="l_distal" file="hsr/hsr_meshes/hand_v0/l_distal.stl"/>
        <mesh name="r_proximal" file="hsr/hsr_meshes/hand_v0/r_proximal.stl"/>
        <mesh name="r_distal" file="hsr/hsr_meshes/hand_v0/r_distal.stl"/>
    </asset>
    <contact>
        <exclude body1="base_link" body2="arm_lift_link"/>
        <exclude body1="arm_lift_link" body2="arm_flex_link"/>
        <exclude body1="arm_flex_link" body2="arm_roll_link"/>
        <exclude body1="arm_roll_link" body2="wrist_flex_link"/>
        <exclude body1="wrist_flex_link" body2="wrist_roll_link"/>
        <exclude body1="wrist_roll_link" body2="hand_palm_link"/>
        <exclude body1="arm_flex_link" body2="hand_palm_link"/>
        <exclude body1="hand_palm_link" body2="hand_l_proximal_link"/>
        <exclude body1="hand_l_proximal_link" body2="hand_l_spring_proximal_link"/>
        <exclude body1="hand_l_spring_proximal_link" body2="hand_l_mimic_distal_link"/>
        <exclude body1="hand_l_mimic_distal_link" body2="hand_l_distal_link"/>
        <exclude body1="hand_palm_link" body2="hand_r_proximal_link"/>
        <exclude body1="hand_r_proximal_link" body2="hand_r_spring_proximal_link"/>
        <exclude body1="hand_r_spring_proximal_link" body2="hand_r_mimic_distal_link"/>
        <exclude body1="hand_r_mimic_distal_link" body2="hand_r_distal_link"/>
    </contact>
    <sensor>
        <touch name="touchsensor_l" site="touchsensor_l_site"/>
        <touch name="touchsensor_r" site="touchsensor_r_site"/>
    </sensor>
    <worldbody>
        <light directional="false" cutoff="180" exponent="1" diffuse="1 1 1" specular="0 0 0" pos="4 0 3.5" dir="-1 0 -2.5" ambient="0 0 0"/>
        <geom name="ground" type="plane" pos="0 0 0" size="4 4 .05" rgba="0.7 0.6 0.5 1"/>
        <camera name="overhead_cam" pos="0.5 0.0 1.75" quat="0.707 0 0 -0.707" />
        <camera name="forward_cam" pos="1.5 0.0 1.25" quat="0.6530752 0.2705757 0.2703603 0.6535954" />

        <body name="base_link" pos="0 0 0">
            <!--<site name="touchsensor_site" size="0.25 .5" pos="0 0 .5" type="cylinder" rgba="1 0 0 0"/>-->
            <joint axis="1 0 0" damping="2200" name="slide_x" pos="0 0 0" type="slide" limited="true" range="-2 2"/>
            <!--<joint axis="1 0 0" damping="2200" name="slide_x" pos="0 0 0" type="slide" limited="true" range="-.02 .02"/>-->
            <joint axis="0 1 0" damping="2200" name="slide_y" pos="0 0 0" type="slide" limited="true" range="-2 2"/>
            <inertial pos="-0.025978 -0.005498 0.17633" quat="0.995796 0.0411155 -0.0685908 0.0446655" mass="50"
                      diaginertia="0.378627 0.344913 0.145159"/>
            <geom type="mesh" group="1" mesh="base_light"/>
            <geom type="mesh" group="1" mesh="body_light"/>
            <geom type="mesh" group="1" mesh="torso_base"/>
            <geom type="mesh" mesh="base"/>
            <body name="base_roll_link" pos="0 0hsr">
                <inertial pos="-0.019482 0.002191 0.071013" quat="-0.163088 0.695987 0.176074 0.676759" mass="10.2394"
                          diaginertia="0.145076 0.0958414 0.0713624"/>
                <!--<joint name="base_roll_joint" pos="0 0 0" axis="0 0 1" />-->
                <body name="base_r_drive_wheel_link" pos="-0.11 -0.133 0.04">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                    <!--<joint name="base_r_drive_wheel_joint" pos="0 0 0" axis="0 1 0" />-->
                    <geom size="0.04 0.015" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0"
                          group="1" rgba="0.2 0.2 0.2 1"/>
                </body>
                <body name="base_l_drive_wheel_link" pos="-0.11 0.133 0.04">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                    <!--<joint name="base_l_drive_wheel_joint" pos="0 0 0" axis="0 1 0" />-->
                    <geom size="0.04 0.015" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0"
                          group="1" rgba="0.2 0.2 0.2 1"/>
                </body>
                <body name="base_r_passive_wheel_x_frame" pos="0.1495 -0.055 0.03">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                    <!--<joint name="base_r_passive_wheel_x_frame_joint" pos="0 0 0" axis="1 0 0" />-->
                    <body name="base_r_passive_wheel_y_frame" pos="0 0 0">
                        <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                        <!--<joint name="base_r_passive_wheel_y_frame_joint" pos="0 0 0" axis="0 1 0" />-->
                        <body name="base_r_passive_wheel_z_link" pos="0 0 0">
                            <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                            <!--<joint name="base_r_passive_wheel_z_joint" pos="0 0 0" axis="0 0 1" />-->
                            <geom size="0.03" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1"/>
                        </body>
                    </body>
                </body>
                <body name="base_l_passive_wheel_x_frame" pos="0.1495 0.055 0.03">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                    <!--<joint name="base_l_passive_wheel_x_frame_joint" pos="0 0 0" axis="1 0 0" />-->
                    <body name="base_l_passive_wheel_y_frame" pos="0 0 0">
                        <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                        <!--<joint name="base_l_passive_wheel_y_frame_joint" pos="0 0 0" axis="0 1 0" />-->
                        <body name="base_l_passive_wheel_z_link" pos="0 0 0">
                            <inertial pos="0 0 0" mass="0.2" diaginertia="0.015 0.015 0.015"/>
                            <!--<joint name="base_l_passive_wheel_z_joint" pos="0 0 0" axis="0 0 1" />-->
                            <geom size="0.03" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1"/>
                        </body>
                    </body>
                </body>
            </body>
            <body name="base_range_sensor_link" pos="0.1675 0 0.1844">
                <inertial pos="2.99617e-10 -1.40731e-10 0.0186825" quat="0.707107 0 0 0.707107" mass="0.0453567"
                          diaginertia="9.82024e-06 9.82024e-06 9.24683e-06"/>
                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="laser"/>
            </body>
            <body name="base_imu_frame" pos="0.0005 0.1296 0.181" quat="0 1 0 0">
                <inertial pos="0.0005 0.1296 0.181" quat="0 1 0 0" mass=".001" diaginertia="0 0 0"/>
            </body>
            <body name="torso_lift_link" pos="0 0 0.752">
                <inertial pos="-0.051142 0.003454 -0.2905" quat="0.511154 0.00760492 -0.0140194 0.859341" mass="3.42078"
                          diaginertia="0.105342 0.104252 0.0127461"/>
                <!--<joint name="torso_lift_joint" pos="0 0 0" axis="0 0 1" type="slide" limited="false" range="0 0.345" />-->
                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="torso_light"/>
                <!--<geom type="mesh" mesh="torso"/>-->
                <body name="head_pan_link" pos="0 0 0">
                    <camera quat=".5 .5 -.5 -.5" name="rgb" pos="0 0 0"/>
                    <inertial pos="0.001724 -0.001969 -0.028886" quat="0.865343 0.459592 0.192259 -0.0547077"
                              mass="0.571903" diaginertia="0.00102408 0.00077623 0.000589392"/>
                    <!--<joint name="head_pan_joint" pos="0 0 0" axis="0 0 1" limited="false" range="-3.84 1.75" />-->
                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="head_pan"/>
                    <geom type="mesh" mesh="head_pan"/>
                    <body name="head_tilt_link" pos="0.02 0 0">
                        <inertial pos="-0.055376 -0.002436 0.117733" quat="0.973833 0.0131235 -0.226864 -0.00327368"
                                  mass="2.1238" diaginertia="0.0218915 0.0149823 0.0091862"/>
                        <!--<joint name="head_tilt_joint" pos="0 0 0" axis="0 -1 0" limited="false" range="-1.57 0.52" />-->
                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="head_upper"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="head_tilt"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="tablet_base"/>
                        <geom type="mesh" contype="0" conaffinity="0" mesh="head"/>
                        <geom type="mesh" contype="0" conaffinity="0" mesh="tablet"/>
                        <body name="head_l_stereo_camera_link" pos="0.02 0.07 0.061" quat="0.5 -0.5 0.5 -0.5">
                            <inertial pos="0.000118795 -2.67584e-05 -0.0166838"
                                      quat="0.968331 0.00628536 0.00637933 0.249511" mass=".001" diaginertia="0 0 0"/>
                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="head_camera"/>
                            <body name="head_l_stereo_camera_gazebo_frame" pos="0 0 0" quat="0.5 0.5 -0.5 0.5">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass=".001" diaginertia="0 0 0"/>
                            </body>
                        </body>
                        <body name="head_r_stereo_camera_link" pos="0.02 -0.07 0.061" quat="0.5 -0.5 0.5 -0.5">
                            <inertial pos="0.000118795 -2.67584e-05 -0.0166838"
                                      quat="0.968331 0.00628536 0.00637933 0.249511" mass=".001" diaginertia="0 0 0"/>
                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="head_camera"/>
                            <body name="head_r_stereo_camera_gazebo_frame" pos="0 0 0" quat="0.5 0.5 -0.5 0.5">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass=".001" diaginertia="0 0 0"/>
                            </body>
                        </body>
                        <body name="head_center_camera_frame" pos="0.0195 0 0.061" quat="0.5 -0.5 0.5 -0.5">
                            <inertial pos="0.0195 0 0.061" quat="0.5 -0.5 0.5 -0.5" mass=".001" diaginertia="0 0 0"/>
                            <body name="head_center_camera_gazebo_frame" pos="0 0 0" quat="0.5 0.5 -0.5 0.5">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass=".001" diaginertia="0 0 0"/>
                            </body>
                        </body>
                        <body name="head_rgbd_sensor_link" pos="-0.079796 0.022 0.215172" quat="0.5 -0.5 0.5 -0.5">
                            <inertial pos="0.0223125 0.00308413 -0.0150742" quat="0.490393 0.50971 0.490151 0.509375"
                                      mass="0.187218" diaginertia="0.000444834 0.000441735 3.55076e-05"/>
                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="rgbd_light"/>
                            <!--<geom type="mesh" mesh="rgbd"/>-->
                            <body name="head_rgbd_sensor_gazebo_frame" pos="0 0 0" quat="0.5 0.5 -0.5 0.5">
                                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass=".001" diaginertia="0 0 0"/>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="arm_lift_link" pos="0 0 0.5">
                  <!--pos="0 0 0.34">-->
                <!--<inertial pos="0.051549 0.042438 -0.064145" quat="-0.111496 0.499152 -0.110462 0.852182" mass="1.27582"-->
                          <!--diaginertia="0.00909548 0.00799354 0.00328099"/>-->
                <joint name="arm_lift_joint" pos="0 0 0" axis="0 0 1" type="slide" limited="true" damping="100"
                       range="0 0.31" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="shoulder"/>
                <geom type="mesh" mesh="shoulder"/>
                <body name="arm_flex_link" pos="0.141 0.078 0">
                    <inertial pos="0.000632 0.006404 0.118529" quat="0.999966 -0.00826681 1.5355e-06 -1.33584e-06"
                              mass="1.33929" diaginertia="2.51222 2.51222 2.51222"/>
                    <joint name="arm_flex_joint" pos="0 0 0" axis="0 -1 0" limited="false" range="-1 0" damping="25"/>
                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="arm_flex_light"/>
                    <geom type="mesh" mesh="arm_flex"/>
                    <body name="arm_roll_link" pos="0.005 0 0.345">
                        <inertial pos="-0.006927 0.002039 -0.064837" quat="0.704471 0.707171 -0.0444888 0.0406182"
                                  mass="0.247936" diaginertia="0.00426928 0.00411787 0.00078077"/>
                        <joint name="arm_roll_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.09 3.84" /> <!--Was commented out -->
                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="arm_roll_light"/>
                        <geom type="mesh" mesh="arm_roll"/>
                        <body name="wrist_flex_link" pos="0 0 0"
                              quat="0.4 0 .6 0">
                            <inertial pos="0.000131 -0.003929 0.00217" quat="0.672298 0.740248 0.0055614 0.00418043"
                                      mass="0.681225" diaginertia="7.43604e-05 6.49274e-05 3.81796e-05"/>
                            <joint name="wrist_flex_joint" pos="0 0 0" axis="0 -1 0" limited="true" range="-1.92 1.22" /> <!--Was commented out -->
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.33 0.33 0.33 1"
                                  mesh="wrist_flex"/>
                            <geom size="0.017 0.01" pos="0 0 0.04" type="cylinder" contype="0" conaffinity="0" group="1"
                                  rgba="0.33 0.33 0.33 1"/>
                            <geom size="0.017 0.02" pos="0 0 0.03" type="cylinder" rgba="0.33 0.33 0.33 1"/>
                            <body name="wrist_roll_link" pos="0 0 0">
                                <inertial pos="-0.001416 -0.001547 0.081689"
                                          quat="0.988073 0.0424396 -0.0351605 -0.143785"
                                          mass="0.761692" diaginertia="0.000811657 0.000766039 0.000449422"/>
                                <joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" damping="15" limited="true" range="-1.57 1.57"/>
                                       <!--range="-1.92 3.67" />-->
                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="wrist_roll"/>
                                <geom type="mesh" mesh="wrist_roll"/>
                                <body name="wrist_ft_sensor_frame" pos="0 0 0.0735" quat="0 1 0 0">
                                    <inertial pos="0 0 0.0735" quat="0 1 0 0" mass=".001" diaginertia="0 0 0"/>
                                </body>
                                <body name="hand_palm_link" pos="0.012 0 0.1405" quat="0 0 0 1">
                                    <site name="hand_site" pos="0 0 0.03"/>
                                    <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.33 0.33 0.33 1"
                                          mesh="palm"/>
                                    <geom type="mesh" rgba="0.33 0.33 0.33 1" mesh="palm"/>
                                    <body name="hand_motor_dummy_link" pos="0 0 0">
                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                        <!--<joint name="hand_motor_joint" pos="0 0 0" axis="1 0 0" limited="false" range="-0.798 1.24" />-->
                                    </body>
                                    <body name="hand_l_proximal_link" pos="-0.01675 -0.0245 -0.0175">
                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                        <joint name="hand_l_proximal_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.35" damping="15"/>
                                        <body name="hand_l_spring_proximal_link" pos="0 0 0">
                                            <inertial pos="0.021418 0.00248 0.022688"
                                                      quat="0.701927 0.0145759 0.051882 0.710208" mass="0.043589"
                                                      diaginertia="2.88931e-05 2.62201e-05 4.88149e-06"/>
                                            <!--<joint name="hand_l_spring_proximal_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.698" />-->
                                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.33 0.33 0.33 1"
                                                  mesh="l_proximal"/>
                                            <geom type="mesh" rgba="0.33 0.33 0.33 1" mesh="l_proximal"/>
                                            <body name="hand_l_mimic_distal_link" pos="0 0 0.07">
                                                <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                                <!--<joint name="hand_l_mimic_distal_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.698 0" />-->
                                                <body name="hand_l_distal_link" pos="0 0 0">
                                                    <site name="touchsensor_l_site" size="0.03" pos="0.015 0.01 0.025" rgba="0 1 0 0 "/>
                                                    <inertial pos="0.011116 0.005679 0.017532"
                                                              quat="0.643017 0.664219 -0.320716 0.206114" mass="0.027731"
                                                              diaginertia="3.13749e-06 3.13749e-06 3.13749e-06"/>
                                                    <!--<joint name="hand_l_distal_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.24 0.798" />-->
                                                    <geom type="mesh" contype="0" conaffinity="0" group="1"
                                                          rgba="0.33 0.33 0.33 1" mesh="l_distal"/>
                                                    <geom type="mesh" rgba="0.33 0.33 0.33 1" mesh="l_distal"/>
                                                    <body name="hand_l_finger_tip_frame" pos="0.01675 0.0193 0.0379"
                                                          quat="0.707107 -0.707107 0 0">
                                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                                    </body>
                                                    <body name="hand_l_finger_vacuum_frame" pos="0.00475 -0.011539 0.03322"
                                                          quat="0.92388 0.382683 0 0">
                                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                                        <geom size="0.004 0.004 0.01" pos="0 0 -0.01" type="box" contype="0"
                                                              conaffinity="0" group="1" rgba="0.33 0.33 0.33 1"/>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                    <body name="hand_r_proximal_link" pos="-0.01675 0.0245 -0.0175">
                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                        <joint name="hand_r_proximal_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.35" damping="15"/>
                                        <body name="hand_r_spring_proximal_link" pos="0 0 0">
                                            <inertial pos="0.013203 0.002096 0.023311"
                                                      quat="0.696227 -0.0447896 0.0033388 0.716415" mass="0.043956"
                                                      diaginertia="2.89497e-05 2.63111e-05 4.7712e-06"/>
                                            <!--<joint name="hand_r_spring_proximal_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.698" />-->
                                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.33 0.33 0.33 1"
                                                  mesh="r_proximal"/>
                                            <geom type="mesh" rgba="0.33 0.33 0.33 1" mesh="r_proximal"/>
                                            <body name="hand_r_mimic_distal_link" pos="0 0 0.07">
                                                <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                                <!--<joint name="hand_r_mimic_distal_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="-0.698 0" />-->
                                                <body name="hand_r_distal_link" pos="0 0 0">
                                                    <inertial pos="0.014256 -0.008321 0.015591"
                                                              quat="0.681852 0.144862 -0.179988 0.694044" mass="0.020927"
                                                              diaginertia="4.49687e-06 3.07541e-06 2.38477e-06"/>
                                                    <!--<joint name="hand_r_distal_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="-1.24 0.798" />-->
                                                    <geom type="mesh" contype="0" conaffinity="0" group="1"
                                                          rgba="0.33 0.33 0.33 1" mesh="r_distal"/>
                                                    <geom type="mesh" rgba="0.33 0.33 0.33 1" mesh="r_distal"/>
                                                    <site name="touchsensor_r_site" size="0.03" pos="0.015 -0.01 0.025" rgba="0 1 0 0"/>

                                                    <body name="hand_r_finger_tip_frame" pos="0.01675 -0.0193 0.0379"
                                                          quat="0.707107 0.707107 0 0">
                                                        <inertial pos="0 0 0" mass="0.15" diaginertia="0.015 0.015 0.015"/>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                    <body name="hand_camera_frame" pos="0.039 0 -0.0045">
                                        <inertial pos="0.039 0 -0.0045" mass=".001" diaginertia="0 0 0"/>
                                        <body name="hand_camera_gazebo_frame" pos="0 0 0" quat="0.5 0.5 -0.5 0.5">
                                            <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass=".001" diaginertia="0 0 0"/>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
    <actuator>
        <position gear="3" kp="300" name="slide_x_motor" joint="slide_x"
                  forcelimited="true" forcerange="-100 100"
                  ctrllimited="true" ctrlrange="-1 1"/>
        <position gear="3" kp="300" name="slide_y_motor" joint="slide_y"
                  forcelimited="true" forcerange="-100 100"
                  ctrllimited="true" ctrlrange="-1 1"/>
        <position gear="5" kp="10" name="arm_lift_motor" joint="arm_lift_joint"
                  forcelimited="true" forcerange="-20 20"
                  ctrllimited="true" ctrlrange="2.3 4.1"/>
        <position gear="1" kp="1000" name="arm_flex_motor" joint="arm_flex_joint"
                  forcelimited="true" forcerange="-15 35"
                  ctrllimited="true" ctrlrange="-1.2 -.5"/>
        <position gear="1" kp="1000" name="arm_roll_motor" joint="arm_roll_joint"
                  forcelimited="true" forcerange="-15 35"
                  ctrllimited="true" ctrlrange="-2.09 3.84"/>
        <position gear="1" kp="1000" name="wrist_flex_motor" joint="wrist_flex_joint"
                  forcelimited="true" forcerange="-20 20"
                  ctrllimited="true" ctrlrange="-1.92 1.22"/>
        <position gear="1" kp="1000" name="wrist_roll_motor" joint="wrist_roll_joint"
                  forcelimited="true" forcerange="-20 20"
                  ctrllimited="true" ctrlrange="-1.57 1.57"/>
        <position gear="1" kp="1000" name="hand_l_proximal_motor" joint="hand_l_proximal_joint"
                  forcelimited="true" forcerange="-20 20"
                  ctrllimited="true" ctrlrange="0 0.349066"/>
        <position gear="1" kp="1000" name="hand_r_proximal_motor" joint="hand_r_proximal_joint"
                  forcelimited="true" forcerange="-20 20"
                  ctrllimited="true" ctrlrange="0 0.349066"/>

    </actuator>
</mujoco>