<mujoco model="sawyer">
    <actuator>
    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="sawyer_joint_1" name="sawyer_torq_j1"/>
    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="sawyer_joint_2" name="sawyer_torq_j2"/>
    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="sawyer_joint_3" name="sawyer_torq_j3"/>
    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="sawyer_joint_4" name="sawyer_torq_j4"/>
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="sawyer_joint_5" name="sawyer_torq_j5"/>
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="sawyer_joint_6" name="sawyer_torq_j6"/>
    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="sawyer_joint_7" name="sawyer_torq_j7"/>
    </actuator>
    <asset>
    	<mesh file="meshes/base.stl" name="sawyer_base"/>
    	<mesh file="meshes/l0.stl" name="sawyer_l0"/>
    	<mesh file="meshes/head.stl" name="sawyer_head"/>
    	<mesh file="meshes/l1.stl" name="sawyer_l1"/>
    	<mesh file="meshes/l2.stl" name="sawyer_l2"/>
    	<mesh file="meshes/l3.stl" name="sawyer_l3"/>
    	<mesh file="meshes/l4.stl" name="sawyer_l4"/>
    	<mesh file="meshes/l5.stl" name="sawyer_l5"/>
    	<mesh file="meshes/l6.stl" name="sawyer_l6"/>
		<mesh file="meshes/pedestal.stl" name="pedestal"/>
    </asset>
    <worldbody>
    	<body name="sawyer_base" pos="0 0 0">
			<!-- robot view -->
			<camera mode="fixed" name="sawyer_robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
    		<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
            <!-- mount attached here -->
			<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 conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" name="pedestal_col1"/>
				<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
			</body>
    		<body name="sawyer_right_arm_base_link" pos="0 0 0">
    			<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" 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="sawyer_base" type="mesh" name="sawyer_base_vis" rgba="0.5 0.1 0.1 1"/>
    			<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" name="sawyer_base_col"/>
    			<body name="sawyer_link_0" pos="0 0 0.08">
    				<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573"/>
    				<joint axis="0 0 1" limited="true" name="sawyer_joint_1" pos="0 0 0" range="-3.0503 3.0503"/>
    				<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l0" type="mesh" name="sawyer_link_0_visual" rgba="0.5 0.1 0.1 1"/>
    				<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" name="sawyer_link_0_collision"/>
    				<body name="sawyer_head" pos="0 0 0.2965">
    					<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247"/>
    					<!--Don't want to control the head joint so remove it from the kinematic tree-->
    					<!--<joint axis="0 0 1" limited="true" name="sawyer_head_pan" pos="0 0 0" range="-5.0952 0.9064"/>-->
    					<geom conaffinity="0" contype="0" group="1" mesh="sawyer_head" type="mesh" name="sawyer_head_visual" rgba="0.5 0.1 0.1 1"/>
    					<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" name="sawyer_head_collision"/>
    					<body name="sawyer_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="0.0001" pos="0 0 0"/>
    						<geom conaffinity="0" contype="0" group="1" size="0.12 0.07 0.001" type="box" name="sawyer_screen_visual" rgba="0.2 0.2 0.2 1"/>
    						<geom rgba="0.2 0.2 0.2 1" size="0.001" name="sawyer_screen_collision"/>
    					</body>
    					<body name="sawyer_head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
    						<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813"/>
    					</body>
    				</body>
    				<body name="sawyer_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="0.0001" pos="0 0 0"/>
    				</body>
    				<body name="sawyer_link_1" 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="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296"/>
    					<joint axis="0 0 1" limited="true" name="sawyer_joint_2" pos="0 0 0" range="-3.8095 2.2736"/>
    					<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l1" type="mesh" name="sawyer_link_1_visual" rgba="0.5 0.1 0.1 1"/>
    					<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" name="sawyer_link_1_collision"/>
    					<body name="sawyer_link_2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
    						<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537"/>
    						<joint axis="0 0 1" limited="true" name="sawyer_joint_3" pos="0 0 0" range="-3.0426 3.0426"/>
    						<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l2" type="mesh" name="sawyer_link_2_visual" rgba="0.5 0.1 0.1 1"/>
    						<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" name="sawyer_link_2_collision"/>
    						<body name="sawyer_link_3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
    							<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247"/>
    							<joint axis="0 0 1" limited="true" name="sawyer_joint_4" pos="0 0 0" range="-3.0439 3.0439"/>
    							<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l3" type="mesh" name="sawyer_link_3_visual" rgba="0.5 0.1 0.1 1"/>
    							<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" name="sawyer_link_3_collision"/>
    							<body name="sawyer_link_4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
    								<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582"/>
    								<joint axis="0 0 1" limited="true" name="sawyer_joint_5" pos="0 0 0" range="-2.9761 2.9761"/>
    								<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l4" type="mesh" name="sawyer_link_4_visual" rgba="0.5 0.1 0.1 1"/>
    								<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" name="sawyer_link_4_collision"/>
    								<body name="sawyer_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="0.0001" pos="0 0 0"/>
    								</body>
    								<body name="sawyer_link_5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
    									<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335"/>
    									<joint axis="0 0 1" limited="true" name="sawyer_joint_6" pos="0 0 0" range="-2.9761 2.9761" damping="0.2"/>
    									<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l5" type="mesh" name="sawyer_link_5_visual" rgba="0.5 0.1 0.1 1"/>
    									<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" name="sawyer_link_5_collision"/>
    									<body name="sawyer_right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
    										<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"/>
    									</body>
    									<body name="sawyer_right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
    										<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0"/>
    									</body>
    									<body name="sawyer_link_6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
    										<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322"/>
    										<joint axis="0 0 1" limited="true" name="sawyer_joint_7" pos="0 0 0" range="-4.7124 4.7124" damping="0.1"/>
    										<geom conaffinity="0" contype="0" group="1" mesh="sawyer_l6" type="mesh" name="sawyer_link_6_visual" rgba="0.5 0.1 0.1 1"/>
    										<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" name="sawyer_link_6_collision"/>
    										<body name="sawyer_right_hand" pos="0 0 0.024" quat="0.707105 0 0 0.707108">
												<!-- This camera points out from the eef. -->
                								<camera mode="fixed" name="sawyer_eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
    											<!-- To add gripper -->
    										</body>
    									</body>
    								</body>
    								<body name="sawyer_link_4_2" pos="0 0 0">
    									<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
    									<geom pos="0 0.01 0.26" size="0.06" name="sawyer_link_4_2"/>
    								</body>
    							</body>
    						</body>
    						<body name="sawyer_link_2_2" pos="0 0 0">
    							<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
    							<geom pos="0 0 0.26" size="0.06" name="sawyer_link_2_2"/>
    						</body>
    					</body>
    					<body name="sawyer_link_1_2" pos="0 0 0">
    						<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
    						<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" name="sawyer_link_1_2"/>
    					</body>
    				</body>
    			</body>
    		</body>
    	</body>
    </worldbody>
</mujoco>