<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 conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box" />
		<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 conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box" />
	</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 name="robot0:palm" pos="-0.02 0 0.0" quat="1.0 0.0 1.0 0.0">
												<inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001" />

												<geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm" />
												<geom class="robot0:DC_Hand" name="robot0:C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" />
												<geom class="robot0:DC_Hand" name="robot0:C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" />


												<body name="robot0:ffknuckle" pos="0.033 0 0.095">
													<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
													<joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" stiffness="80.0" springref="0.0" user="1103" />
													<geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle" />
													<body name="robot0:ffproximal" pos="0.0 0.0 0.01">
														<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
														<joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1102" />
														<geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3" />
														<geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225" />
														<body name="robot0:ffmiddle" pos="0.0 0.0 0.055">
															<inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
															<joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1101" />
															<geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2" />
															<geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125" />
															<body name="robot0:ffdistal" pos="0.0 0.0 0.035">
																<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
																<joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1100" />
																<geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1" />
																<geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4" friction="1.0 0.005 0.0001" />
																<site name="robot0:S_fftip" pos="0 0 0.026" group="3" />
																<site class="robot0:D_Touch" name="robot0:Tch_fftip" />
															</body>
														</body>
													</body>
												</body>
												<body name="robot0:mfknuckle" pos="0.011 0 0.099">
													<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
													<joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" stiffness="80.0" springref="0.0" user="1107" />
													<geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle" />
													<body name="robot0:mfproximal" pos="0.0 0.0 0.01">
														<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
														<joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1106" />
														<geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3" />
														<geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225" />
														<body name="robot0:mfmiddle" pos="0.0 0.0 0.055">
															<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
															<joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1105" />
															<geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2" />
															<geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125" />
															<body name="robot0:mfdistal" pos="0.0 0.0 0.035">
																<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
																<joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1104" />
																<geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1" />
																<geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4" friction="1.0 0.005 0.0001" />
																<site name="robot0:S_mftip" pos="0 0 0.026" group="3" />
																<site class="robot0:D_Touch" name="robot0:Tch_mftip" />
															</body>
														</body>
													</body>
												</body>
												<body name="robot0:rfknuckle" pos="-0.011 0 0.095">
													<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
													<joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" stiffness="80.0" springref="0.0" user="1111" />
													<geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle" />
													<body name="robot0:rfproximal" pos="0.0 0.0 0.01">
														<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
														<joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1110" />
														<geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3" />
														<geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225" />
														<body name="robot0:rfmiddle" pos="0.0 0.0 0.055">
															<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
															<joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1109" />
															<geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2" />
															<geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125" />
															<body name="robot0:rfdistal" pos="0.0 0.0 0.035">
																<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
																<joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1108" />
																<geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001" />
																<geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4" friction="1.0 0.005 0.0001" />
																<site name="robot0:S_rftip" pos="0 0 0.026" group="3" />
																<site class="robot0:D_Touch" name="robot0:Tch_rftip" />
															</body>
														</body>
													</body>
												</body>
												<body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
													<inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05" />
													<joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" stiffness="80.0" springref="0.2" user="1116" />
													<geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal" />
													<geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" />

													<body name="robot0:lfknuckle" pos="-0.017 0 0.044">
														<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
														<joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" stiffness="80.0" springref="0.0" user="1115" />
														<geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle" />
														<body name="robot0:lfproximal" pos="0.0 0.0 0.01">
															<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
															<joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1114" />
															<geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3" />
															<geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225" />
															<body name="robot0:lfmiddle" pos="0.0 0.0 0.055">
																<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
																<joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1113" />
																<geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2" />
																<geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125" />
																<body name="robot0:lfdistal" pos="0.0 0.0 0.035">
																	<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
																	<joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" stiffness="80.0" springref="0.8" user="1112" />
																	<geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001" />
																	<geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4" friction="1.0 0.005 0.0001" />
																	<site name="robot0:S_lftip" pos="0 0 0.026" group="3" />
																	<site class="robot0:D_Touch" name="robot0:Tch_lftip" />
																</body>
															</body>
														</body>
													</body>
												</body>
												<body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
													<inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
													<joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" stiffness="80.0" springref="-0.1" user="1121" />
													<geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001" />
													<body name="robot0:thproximal" pos="0.0 0.0 0.01">
														<inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
														<joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.6" stiffness="80.0" springref="1.6" user="1120" />
														<geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z" />
														<geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" />

														<body name="robot0:thhub" pos="0 0 0.038">
															<inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05" />
															<joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" stiffness="80.0" springref="0.0" user="1119" />
															<geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001" />
															<body name="robot0:thmiddle" pos="0.0 0.0 0.01">
																<inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
																<joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" stiffness="80.0" springref="-0.4" user="1118" />
																<geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z" />
																<geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016" />
																<body name="robot0:thdistal" pos="0.0 0.0 0.042">
																	<inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
																	<joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" stiffness="80.0" springref="-0.8" user="1117" />
																	<geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z" />
																	<geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4" friction="1.0 0.005 0.0001" />
																	<site name="robot0:S_thtip" pos="0 0 0.0275" group="3" />
																	<site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02" />
																</body>
															</body>
														</body>
													</body>
												</body>
											</body>

											<site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02" />
										</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">
			<camera euler="0 0.75 1.57" fovy="43.3" name="external_camera_0" pos="1.3 0 1.2" />
		</body>
	</body>
</mujoco>