<mujoco model="keybot">
    <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>
        <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>
        <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>
        <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
    </body>
    <body childclass="robot0:fetch" name="robot0:base_link" pos="0 0 0">
        <joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
		<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
		<joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
        <inertial diaginertia="0.03 0.03 0.03" mass="20" pos="0 0 0"></inertial>
        <!--<geom size="0.001 0.001 0.001" pos="0 0 0.38" type="box" contype="0" conaffinity="0" group="1" rgba="0 0 0.8 1" />-->
        <body name="base_link" pos="0 0 0">
            <geom size="0.0325 0.047 0.022" type="box" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" />
            <body name="rotator" pos="0.0585 0 0">
                <geom size="0.026 0.0155 0.0185" type="box" contype="0" conaffinity="0" group="1" />
                <body name="H_frame_rotator" pos="0.013 0 0.0189">
                    <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                    <joint name='rotator' pos="0 0 0" axis="0 0 1" limited="true" range="-1.5 1.5" />
                    <geom size="0.012 0.012 0.002" type="box" contype="0" conaffinity="0" group="1" rgba="0 0 1 1" />
                    <body name="V_frame_rotator" pos="0.01 0 0.0157">
                        <geom size="0.0015 0.025 0.015" type="box" contype="0" conaffinity="0" group="1" rgba="0 0 1 1" />
                        <body name="claw_1_left" pos="0.015 -0.02 0">
                            <geom size="0.015 0.0015 0.01" type="box" contype="0" conaffinity="0" group="1" />
                            <body name="distancer" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                <joint name="distancer" pos="0 0 0" axis="0 1 0" limited="true" range="-0.99 0.99" />
                                <geom size="0.026 0.0155 0.0185" pos="0.03 0.02 0" type="box" contype="0" conaffinity="0" group="1" rgba="0 0 1 1" />
                                <body name="claw_2_left" pos="0.07 0 0">
                                    <geom size="0.025 0.0015 0.01" type="box" contype="0" conaffinity="0" group="1" rgba="0 1 1 1" />
                                    <body name="player" pos="0 0 0">
                                        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                        <joint name="player" pos="0 0 0" axis="0 1 0" limited="true" range="-0.99 0.99" />
                                        <geom size="0.026 0.0155 0.0185" pos="0.03 0.02 0" type="box" contype="0" conaffinity="0" group="1" rgba="0 1 0 1" />
                                        <body name="plank" pos="0 0 0">
                                            <geom size="0.03 0.0075 0.0005" pos="0.07 0.02 -0.019" type="box" contype="0" conaffinity="0" group="1" />
                                            <body name="sensor" pos="0 0 0">
                                                <geom size="0.005"  type="sphere" pos="0.1 0.02 -0.02" contype="0" conaffinity="0" group="1" rgba="1 1 0 1" />
                                            </body>
                                            <!--<inertial pos="0 0 0" mass="5" diaginertia="0.1 0.1 0.1" />-->
                                            <!--<joint name="dummy" pos="0 0 0" axis="1 1 1" limited="true" range="-0.1 0.1" />-->
                                            <body name="robot0:gripper_link" pos="0.1 0.02 -0.02">
                                                 <body childclass="robot0:fetchGripper" name="robot0:r_gripper_finger_link" pos="0 0.0000159 0">
                                                    <inertial diaginertia="0.1 0.1 0.1" mass="0.01" pos="0 0 0"></inertial>
                                                    <joint axis="1 1 0" name="robot0:r_gripper_finger_joint" range="0 0.005"></joint>
                                                    <geom pos="0 -0.0008 0" size="0.00385 0.0007 0.00035" type="box" name="robot0:r_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
                                                </body>
                                                <body childclass="robot0:fetchGripper" name="robot0:l_gripper_finger_link" pos="0 -0.0000159 0">
                                                    <inertial diaginertia="0.1 0.1 0.1" mass="0.01" pos="0 0 0"></inertial>
                                                    <joint axis="1 -1 0" name="robot0:l_gripper_finger_joint" range="0 0.005"></joint>
                                                    <geom pos="0 0.0008 0" size="0.00385 0.0007 0.00035" type="box" name="robot0:l_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
                                                </body>
                                                <site name="robot0:grip" pos="0.0 0.0 0.0" rgba="1 0 0 0" size="0.02 0.02 0.02"></site>
                                            </body>

                                        </body>
                                    </body>
                                </body>
                                <body name="claw_2_right" pos="0.07 0.04 0">
                                    <geom size="0.025 0.0015 0.01" type="box" contype="0" conaffinity="0" group="1" rgba="0 1 1 1" />
                                </body>
                            </body>
                        </body>
                        <body name="claw_1_right" pos="0.015 0.02 0">
                            <geom size="0.015 0.0015 0.01" type="box" contype="0" conaffinity="0" group="1" />

                        </body>
                    </body>

                </body>

            </body>
        </body>

    </body>

</mujoco>
