<!-- ======================================================
	Model 		:: PR2 from Willow Garage 
		Source		: (Provided by Sergey Levine, UC Berkeley)
		Downloaded	: 18July'14
		
	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.50
		Released 	: 23Apr'17
		
	Author		:: Vikash Kumar
		Contacts 	: vikashplus@gmail.com
		Last edits 	: 30Apr16, 10Oct'15, 26July'15, 25Aug'18
		
	Copyright 2018 Vikash Kumar
		Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->

<mujoco model="pr2(v1.51)">
    <compiler 	meshdir="meshes/" 
				coordinate="local" 
				angle="radian"/>

	<option timestep="0.01" 
			gravity="0 0 -9.81"/>

	<asset>
		<mesh file="base_L.stl"/>
		<mesh file="caster_L.stl"/>
		<mesh file="torso_lift_L.stl"/>
		<mesh file="head_pan_L.stl"/>
		<mesh file="head_tilt_L.stl"/>
		<mesh file="tilting_hokuyo_L.stl"/>
		<mesh file="shoulder_pan.stl"/>
		<mesh file="shoulder_lift.stl"/>
		<mesh file="upper_arm_roll_L.stl"/>
		<mesh file="upper_arm.stl"/>
		<mesh file="elbow_flex.stl"/>
		<mesh file="forearm_roll_L.stl"/>
		<mesh file="forearm.stl"/>
		
		
		<mesh file="wrist_flex.stl"/>
		<mesh file="wrist_roll_L.stl"/>
		<mesh file="gripper_palm.stl"/>
		<mesh file="l_finger.stl"/>
		<mesh file="l_finger_tip.stl"/>
				
		<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
               width="800" height="800" mark="random" markrgb="1 1 1"/>  
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" 
            rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>  
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" 
            width="512" height="512"/>  

        <material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name='geom' texture="texgeom" texuniform="true"/>
	</asset>
	
	
    <contact>       
        <pair geom1="r_gripper_l_finger_tip" geom2="r_gripper_r_finger_tip"/>
		<pair geom1="l_gripper_l_finger_tip" geom2="l_gripper_r_finger_tip"/>
		<pair geom1="base" geom2="r_forearm"/>
		<pair geom1="base" geom2="l_forearm"/>
		
    </contact>
  
    <default>
        <joint limited="false" damping="10" armature=".05"/>
        <geom contype="1" conaffinity="0" friction="1 0.1 0.1" type="mesh"/>
		<default class="gripper">
			<joint damping="0.005" armature=".005"/>
		</default>
    </default>
    
    <worldbody>
		<geom name='floor' pos='0 0 0' size='5 5 .125' type='plane' material="MatPlane" condim='3'/>
        <light mode='targetbodycom' target='torso_lift_link' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
	
        <body name="base_footprint" pos="0 0 0">
            <joint name="rootx" type="slide"   pos="0 0 0" axis="1 0 0"/>
            <joint name="rooty" type="slide"   pos="0 0 0" axis="0 1 0"/>
            <joint name="rootwz" type="hinge"   pos="0 0 0" axis="0 0 1"/>
            <inertial pos="0 0 0" mass="50" diaginertia="0.01 0.01 0.01" />
            <!--<geom name="geom0" type="box" pos="0 0 0.071" size="0.005 0.005 0.005" rgba="1 0 0 1" group="2" />-->
            <body name="base_link" pos="0 0 0.051">
                <inertial pos="-0.061 0 0.293" quat="0.973598 0.001764 -0.228065 -0.009443" mass="116" diaginertia="6.293885 5.669245 3.041772" />
                <geom name="base" rgba="1 1 1 1" mesh="base_L" contype="0"/>
                <!--<geom name="geom1fa" type="capsule" pos="-0.07672349 0 0.19886751" quat="0 0.86906109 0 0.49470478" size="0.42951756 0.18367422" rgba="1 0 0 1" group="2"/>
                <geom name="geom1fb" type="box" pos="-0.07672349 0 0.19886751" quat="0 0.86906109 0 0.49470478" size="0.30240801 0.33412111 0.45479645" rgba="1 0 0 1" group="2"/>-->
                <geom name="geom1f" type="box" pos="0 0 0.1" size="0.34 0.34 0.15" rgba="1 1 0.1 1" group="3"/>
                <!--body name="base_laser_link" pos="0.275 0 0.252">
                    <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.001" diaginertia="0.0001 0.0001 0.000001" />
                    <geom name="geom2" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" rgba="0.8 0 0 1" />
                </body>
                <body name="fl_caster_rotation_link" pos="0.2246 0.2246 0.0282">
                    <inertial pos="0 0 0.07" quat="0.589921 -0.182261 -0.205712 0.759247" mass="3.473082" diaginertia="0.015392 0.012545 0.011457" />
                    <joint name="fl_caster_rotation_joint" type="hinge"   pos="0 0 0" axis="0 0 1"/>
                    <geom name="geom3" mesh="caster_L" />
                    <body name="fl_caster_l_wheel_link" pos="0 0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="fl_caster_l_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom4" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                    <body name="fl_caster_r_wheel_link" pos="0 -0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="fl_caster_r_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom5" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                </body>
                <body name="fr_caster_rotation_link" pos="0.2246 -0.2246 0.0282">
                    <inertial pos="0 0 0.07" quat="0.589921 -0.182261 -0.205712 0.759247" mass="3.473082" diaginertia="0.015392 0.012545 0.011457" />
                    <joint name="fr_caster_rotation_joint" type="hinge"   pos="0 0 0" axis="0 0 1"/>
                    <geom name="geom6" mesh="caster_L" />
                    <body name="fr_caster_l_wheel_link" pos="0 0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="fr_caster_l_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom7" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                    <body name="fr_caster_r_wheel_link" pos="0 -0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="fr_caster_r_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom8" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                </body>
                <body name="bl_caster_rotation_link" pos="-0.2246 0.2246 0.0282">
                    <inertial pos="0 0 0.07" quat="0.589921 -0.182261 -0.205712 0.759247" mass="3.473082" diaginertia="0.015392 0.012545 0.011457" />
                    <joint name="bl_caster_rotation_joint" type="hinge"   pos="0 0 0" axis="0 0 1"/>
                    <geom name="geom9" mesh="caster_L" />
                    <body name="bl_caster_l_wheel_link" pos="0 0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="bl_caster_l_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom10" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                    <body name="bl_caster_r_wheel_link" pos="0 -0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="bl_caster_r_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom11" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                </body>
                <body name="br_caster_rotation_link" pos="-0.2246 -0.2246 0.0282">
                    <inertial pos="0 0 0.07" quat="0.589921 -0.182261 -0.205712 0.759247" mass="3.473082" diaginertia="0.015392 0.012545 0.011457" />
                    <joint name="br_caster_rotation_joint" type="hinge"   pos="0 0 0" axis="0 0 1"/>
                    <geom name="geom12" mesh="caster_L" />
                    <body name="br_caster_l_wheel_link" pos="0 0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="br_caster_l_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom13" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                    <body name="br_caster_r_wheel_link" pos="0 -0.049 0">
                        <inertial pos="0 0 0" quat="0.589921 -0.182261 -0.205712 0.759247" mass="0.44036" diaginertia="0.015392 0.012545 0.011457" />
                        <joint name="br_caster_r_wheel_joint" type="hinge"   pos="0 0 0" axis="0 1 0"/>
                        <geom name="geom14" type="cylinder" pos="0 0 0" quat="0.707107 0.707107 0 0" size="0.074792 0.017" />
                    </body>
                </body-->
                <body name="torso_lift_link" pos="-0.05 0 0.739675">
                    <inertial pos="-0.1 0 -0.0885" quat="0.999335 0.007626 0.035453 0.003712" mass="36.248046" diaginertia="2.783075 2.510450 0.514581" />
                    <joint name="torso_lift_joint" type="slide" pos="0 0 0" axis="0 0 1" limited="true" range="0 0.31"/>
                    <geom name="geom15" rgba="0.9 0.9 0.9 1" mesh="torso_lift_L" contype="0"/>
                    <!--geom name="geom15f" type="capsule" pos="-0.12326594 0 -0.08635105" quat="0.99742953 0 0.07165425 0" size="0.29128166 0.26561864" rgba="0.9 0.9 0.9 1" group="3"/-->
                    <!--geom name="geom15f" type="box" pos="-0.12326594 0 -0.08635105" quat="0.99742953 0 0.07165425 0" size="0.19755489 0.26362795 0.42803352" rgba="0.9 0.9 0.9 1" group="3"/-->
                    <geom name="geom15f" type="box" pos="-0.09 0 -0.08635105" size="0.19755489 0.26362795 0.42803352" rgba="0.9 0.9 0.9 1" group="3"/>
                    <!--body name="imu_link" pos="-0.02977 -0.1497 0.164" quat="0 0 -1 0">
                        <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.001" diaginertia="0.0001 0.0001 0.000001" />
                        <geom name="geom16" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" rgba="0.8 0 0 1" />
                    </body-->
                    <!--body name="head_pan_link" pos="-0.01707 0 0.38145">
                        <inertial pos="-0.005717 0.010312 -0.029649" quat="-0.145270 0.703536 0.077046 0.691373" mass="1.611118" diaginertia="0.008652 0.005234 0.004779" />
                        <joint name="head_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-3.007 3.007"/>
                        <geom name="geom17" rgba="0 0 0.8 1" mesh="head_pan_L" />
                        <body name="head_tilt_link" pos="0.068 0 0">
                            <inertial pos="0.041935 0.003569 0.028143" quat="0.538183 -0.126356 -0.109825 0.826034" mass="1.749727" diaginertia="0.012028 0.011145 0.004820" />
                            <joint name="head_tilt_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.471238 1.39626"/>
                            <geom name="geom18" rgba="0 0.8 0 1" mesh="head_tilt_L" />
                            <body name="head_plate_frame" pos="0.0232 0 0.0645">
                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                <geom name="geom19" type="box" pos="0 0 0" size="0.005 0.005 0.005" rgba="0 0 0.8 1" />
                                <body name="sensor_mount_link" pos="0 0 0">
                                    <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.05" diaginertia="0.004 0.004 0.004" />
                                    <geom name="geom20" type="box" pos="0 0 0" size="0.005 0.005 0.005" rgba="0 0 0.8 1" />
                                    <body name="high_def_frame" pos="0 -0.109 0.035">
                                        <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                        <geom name="geom21" type="box" pos="0 0 0" size="0.005 0.005 0.005" rgba="0 0 0.8 1" />
                                        <body name="high_def_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                            <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                            <geom name="geom22" type="box" pos="0 0 0" size="0.005 0.005 0.005" rgba="0 0 0.8 1" />
                                        </body>
                                    </body>
                                    <body name="double_stereo_link" pos="0 0 0.003">
                                        <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.1" diaginertia="0.004 0.004 0.004" />
                                        <geom name="geom23" type="box" pos="-0.01 0 0.025" size="0.01 0.06 0.025" rgba="0 0 0.8 1" />
                                        <body name="wide_stereo_link" pos="0 0.03 0.0305">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                            <geom name="geom24" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" rgba="0 0 0.8 1" />
                                            <body name="wide_stereo_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                            </body>
                                            <body name="wide_stereo_gazebo_l_stereo_camera_frame" pos="0 0 0">
                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                <geom name="geom25" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                <body name="wide_stereo_gazebo_l_stereo_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                    <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                </body>
                                                <body name="wide_stereo_gazebo_r_stereo_camera_frame" pos="0 -0.09 0">
                                                    <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                    <geom name="geom26" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                    <body name="wide_stereo_gazebo_r_stereo_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                        <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                        <body name="narrow_stereo_link" pos="0 0.06 0.0305">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                            <geom name="geom27" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" rgba="0 0 0.8 1" />
                                            <body name="narrow_stereo_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                            </body>
                                            <body name="narrow_stereo_gazebo_l_stereo_camera_frame" pos="0 0 0">
                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                <geom name="geom28" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                <body name="narrow_stereo_gazebo_l_stereo_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                    <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                </body>
                                                <body name="narrow_stereo_gazebo_r_stereo_camera_frame" pos="0 -0.09 0">
                                                    <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                    <geom name="geom29" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                    <body name="narrow_stereo_gazebo_r_stereo_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                        <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body-->
                    <!--body name="laser_tilt_mount_link" pos="0.09893 0 0.227">
                        <inertial pos="-0.03 0 -0.03" quat="0.707107 0.707107 0 0" mass="0.05" diaginertia="0.0001 0.0001 0.00001" />
                        <joint name="laser_tilt_mount_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.7854 1.48353"/>
                        <geom name="geom30" rgba="0.8 0 0 1" mesh="tilting_hokuyo_L" />
                        <body name="laser_tilt_link" pos="0 0 0.03">
                            <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.001" diaginertia="0.0001 0.0001 0.000001" />
                            <geom name="geom31" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" rgba="0.8 0 0 1" />
                        </body>
                    </body-->
                    <body name="r_shoulder_pan_link" pos="0 -0.188 0">
                        <inertial pos="-0.001201 0.024513 -0.098231" quat="0.927482 -0.087656 0.074060 -0.355821" mass="25.799322" diaginertia="0.934201 0.837701 0.242033" />
                        <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-2.285398 0.714602"/>
                        <geom name="geom32" rgba="0 0 0.8 1" mesh="shoulder_pan" contype="0"/>
                        <!--geom name="geom32f" type="capsule" pos="0.01642114 -0.00171030 -0.18118357" quat="0.69209327 0.05075781 0.04887308 0.71836061" size="0.21476608 0.19522579" rgba="0 0 0.8 1" group="3"/-->
                        <!--geom name="geom32f" type="box" pos="0.01642114 -0.00171030 -0.18118357" quat="0.69209327 0.05075781 0.04887308 0.71836061" size="0.13091806 0.18720169 0.32589236" rgba="0 0 0.8 1" group="3"/-->
                        <geom name="geom32f" type="box" pos="0.01642114 -0.00171030 -0.18118357" size="0.18 0.13 0.32589236" rgba="0 0 0.8 1" group="3"/>
                        <body name="r_shoulder_lift_link" pos="0.1 0 0">
                            <inertial pos="0.02195 -0.02664 -0.03127" quat="0.791779 0.478014 0.238985 0.295762" mass="2.74988" diaginertia="0.026187 0.020730 0.015168" />
                            <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.5236 1.3963"/>
                            <geom name="geom33" rgba="0.7 0.7 0.7 1" mesh="shoulder_lift" contype="0"/>
                            <!--<geom name="geom33f" type="capsule" pos="0.00043735 0.00010360 0.00012870" quat="0.70990818 0.03949992 0.03636729 0.70224465" size="0.14761245 0.01591613" rgba="0.7 0.7 0.7 1" group="3"/>-->
                            <body name="r_upper_arm_roll_link" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-3.9 0.8"/>
                                <!--mesh name="geom34" mesh="upper_arm_roll_L" contype="0"/-->
                                <!--geom name="geom34f" type="capsule" pos="0.12961979 -0.00000014 0" quat="1 -0.00001340 0.00000169 -0.00000728" size="0.07297432 0.00139096" group="3"/-->
                                <body name="r_upper_arm_link" pos="0 0 0">
                                    <inertial pos="0.21398 -0.01621 -0.0002" quat="-0.045020 0.697462 -0.088537 0.709705" mass="6.01769" diaginertia="0.076138 0.074931 0.015133" />
                                    <geom name="geom35" rgba="0 0.8 0 1" mesh="upper_arm" contype="0"/>
                                    <!--geom name="geom35f" type="capsule" pos="0.21533518 0.00017574 -0.00229182" quat="0.50005025 0.49945472 0.50003903 0.50045548" size="0.09823026 0.18895381" rgba="0 0.8 0 1" group="3"/-->
                                    <body name="r_elbow_flex_link" pos="0.4 0 0">
                                        <inertial pos="0.01014 0.00032 -0.01211" quat="0.308784 0.646797 0.639077 0.279083" mass="1.90327" diaginertia="0.004419 0.003965 0.003090" />
                                        <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.3213 0"/>
                                        <geom name="geom36" rgba="0.7 0.7 0.7 1" mesh="elbow_flex" contype="0"/>
                                        <!--geom name="geom36f" type="capsule" pos="0.01080148 -0.00019654 -0.00157206" quat="0.46319936 0.53428385 0.53426711 0.46319087" size="0.08174065 0.03329964" rgba="0.7 0.7 0.7 1" group="3"/-->
                                        <body name="r_forearm_roll_link" pos="0 0 0">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                            <joint name="r_forearm_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0"/>
                                            <!--mesh name="geom37" mesh="forearm_roll_L" contype="0"/-->
                                            <!--geom name="geom37f" type="capsule" pos="0.04279423 -0.00004959 -0.00435061" quat="-0.00043052 0.67588833 -0.00028777 0.73700387" size="0.04187753 0.05695059" group="3"/-->
                                            <body name="r_forearm_link" pos="0 0 0">
                                                <inertial pos="0.18791 -0.00017 -0.00912" quat="-0.000587 0.726286 -0.003969 0.687381" mass="2.57968" diaginertia="0.016633 0.015078 0.003609" />
                                                <geom name="r_forearm" rgba="0.7 0.7 0.7 1" mesh="forearm" contype="0"/>
                                                <!--geom name="geom38f" type="capsule" pos="0.22414201 -0.00002379 -0.00172978" quat="0.00011562 0.73364272 -0.00009110 0.67953538" size="0.06893772 0.10796238" rgba="0.7 0.7 0.7 1" group="3"/-->
                                                <geom name="geom38f" type="box" pos="0.22414201 -0.00002379 -0.00172978" size="0.13 0.06 0.05" rgba="0.7 0.7 0.7 1" group="3"/>
                                               <body name="r_wrist_flex_link" pos="0.321 0 0">
                                                    <inertial pos="-0.00157 0 -0.00075" quat="0.695976 0.696411 -0.123560 0.123942" mass="0.61402" diaginertia="0.000653 0.000643 0.000198" />
                                                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.094 0"/>
                                                    <geom name="geom39" rgba="0.7 0.7 0.7 1" mesh="wrist_flex" contype="0"/>
                                                    <!--geom name="geom39f" type="capsule" pos="-0.00166503 -0.00000018 -0.00367085" quat="0.70247354 -0.08138660 -0.08143754 0.70233544" size="0.03978695 0.01715654" rgba="0.7 0.7 0.7 1" group="3"/-->
                                                    <body name="r_wrist_roll_link" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                                        <joint name="r_wrist_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0"/>
                                                        <!--mesh name="geom40" mesh="wrist_roll_L" contype="0"/-->
                                                        <!--geom name="geom40f" type="capsule" pos="0.03324894 0.00005320 -0.00012423" quat="0.67531716 0.73752742 -0.00019246 0.00000483" size="0.02078140 0.00071779" group="3"/-->
                                                        <body name="r_gripper_palm_link" pos="0 0 0" childclass="gripper">
                                                            <inertial pos="0.06623 0.00053 -0.00119" quat="-0.018184 0.706274 0.016077 0.707523" mass="0.58007" diaginertia="0.000866 0.000678 0.000351" />
                                                            <geom name="geom41" rgba="0.8 0 0 1" mesh="gripper_palm" contype="0"/>
                                                            <geom name="geom41f" type="capsule" pos="0.07750326 0.00000579 -0.00000142" quat="0.49981788 0.50015276 -0.49991269 0.50011660" size="0.05263874 0.00669171" rgba="0.8 0 0 1" group="3"/>
                                                            <!--geom name="geom41f" type="box" pos="0.07750326 0.00000579 -0.00000142" quat="0.49981788 0.50015276 -0.49991269 0.50011660" size="0.02425377 0.048 0.05" rgba="0.8 0 0 1" group="3"/-->
                                                            <!--body name="r_gripper_led_frame" pos="0.0513 0 0.0244">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                            </body>
                                                            <body name="r_gripper_motor_accelerometer_link" pos="0 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.001 0.001 0.001" />
                                                                <geom name="geom42" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" />
                                                            </body>
                                                            <body name="r_gripper_tool_frame" pos="0.18 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                            </body-->
                                                            <body name="r_gripper_l_finger_link" pos="0.07691 0.01 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <joint name="r_gripper_l_finger_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 0.548"/>
                                                                <geom name="geom43" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                <body name="r_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
                                                                    <inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <joint name="r_gripper_l_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-.548 0"/>
                                                                    <geom name="r_gripper_l_finger_tip" rgba="0 0.8 0 1" mesh="l_finger_tip" />
                                                                </body>
                                                            </body>
                                                            <body name="r_gripper_r_finger_link" pos="0.07691 -0.01 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <joint name="r_gripper_r_finger_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="0 .548"/>
                                                                <geom name="geom45" rgba="0.7 0.7 0.7 1" euler="3.14 0 0" mesh="l_finger" />
                                                                <body name="r_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
                                                                    <inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <joint name="r_gripper_r_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="-.548 0"/>
                                                                    <geom name="r_gripper_r_finger_tip" euler="3.14 0 0" rgba="0 0.8 0 1" mesh="l_finger_tip" />
                                                                    <!--body name="r_gripper_l_finger_tip_frame" pos="0 0 0">
                                                                        <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                                        <joint name="r_gripper_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="0 0.09" maxvel="0.2" />
                                                                    </body-->
                                                                </body>
                                                            </body>
                                                            <!--body name="r_gripper_l_parallel_link" pos="0.05891 0.031 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <joint name="r_gripper_l_parallel_root_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 0.548"/>
                                                                <geom name="geom47" type="box" pos="0.045747 0 0" quat="0.999634 0 0 0.027058" size="0.045747 0.0025 0.0025" />
                                                            </body>
                                                            <body name="r_gripper_r_parallel_link" pos="0.05891 -0.031 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <joint name="r_gripper_r_parallel_root_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="0 0.548"/>
                                                                <geom name="geom48" type="box" pos="0.045747 0 0" quat="0.999634 0 0 -0.027058" size="0.045747 0.0025 0.0025" />
                                                            </body-->
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                            <!--body name="r_forearm_cam_frame" pos="0.135 0 0.044" quat="0.679288 0.679288 0.196387 0.196387">
                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                <geom name="geom49" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                <body name="r_forearm_cam_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                    <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                </body>
                                            </body-->
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="l_shoulder_pan_link" pos="0 0.188 0">
                        <inertial pos="-0.001201 0.024513 -0.098231" quat="0.927482 -0.087656 0.074060 -0.355821" mass="25.799322" diaginertia="0.934201 0.837701 0.242033" />
                        <joint name="l_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.714602 2.285398"/>
                        <geom name="geom50" rgba="0 0 0.8 1" mesh="shoulder_pan" contype="0"/>
                        <geom name="geom50f" type="box" pos="0.01642114 0.00171030 -0.18118357" size="0.18 0.13 0.32589236" rgba="0 0 0.8 1" group="3"/>
                        <body name="l_shoulder_lift_link" pos="0.1 0 0">
                            <inertial pos="0.02195 -0.02664 -0.03127" quat="0.791779 0.478014 0.238985 0.295762" mass="2.74988" diaginertia="0.026187 0.020730 0.015168" />
                            <joint name="l_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.5236 1.3963"/>
                            <geom name="geom51" rgba="0.7 0.7 0.7 1" mesh="shoulder_lift" />
                            <body name="l_upper_arm_roll_link" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                <joint name="l_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8 3.9"/>
                                <!--mesh name="geom52" mesh="upper_arm_roll_L" /-->
                                <body name="l_upper_arm_link" pos="0 0 0">
                                    <inertial pos="0.21405 0.01658 -0.00057" quat="-0.090901 0.708675 -0.051638 0.697746" mass="6.01769" diaginertia="0.076070 0.074882 0.015107" />
                                    <geom name="geom53" rgba="0 0.8 0 1" mesh="upper_arm" contype="0"/>
                                    <body name="l_elbow_flex_link" pos="0.4 0 0">
                                        <inertial pos="0.01014 0.00032 -0.01211" quat="0.308784 0.646797 0.639077 0.279083" mass="1.90327" diaginertia="0.004419 0.003965 0.003090" />
                                        <joint name="l_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.3213 0"/>
                                        <geom name="geom54" rgba="0.7 0.7 0.7 1" mesh="elbow_flex" />
                                        <body name="l_forearm_roll_link" pos="0 0 0">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                            <joint name="l_forearm_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0"/>
                                            <!--mesh name="geom55" mesh="forearm_roll_L" /-->
                                            <body name="l_forearm_link" pos="0 0 0">
                                                <inertial pos="0.18791 -0.00017 -0.00912" quat="-0.000587 0.726286 -0.003969 0.687381" mass="2.57968" diaginertia="0.016633 0.015078 0.003609" />
                                                <geom name="l_forearm" rgba="0.7 0.7 0.7 1" mesh="forearm" contype="0"/>
                                                <geom name="geom56f" type="box" pos="0.22414201 0.00002379 -0.00172978" size="0.13 0.06 0.05" rgba="0.7 0.7 0.7 1" group="3"/>
                                                <body name="l_wrist_flex_link" pos="0.321 0 0">
                                                    <inertial pos="-0.00157 0 -0.00075" quat="0.695976 0.696411 -0.123560 0.123942" mass="0.61402" diaginertia="0.000653 0.000643 0.000198" />
                                                    <joint name="l_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.094 0"/>
                                                    <geom name="geom57" rgba="0.7 0.7 0.7 1" mesh="wrist_flex"/>
                                                    <body name="l_wrist_roll_link" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                                        <joint name="l_wrist_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0"/>
                                                        <!--mesh name="geom58" mesh="wrist_roll_L" /-->
                                                        <body name="l_gripper_palm_link" pos="0 0 0" childclass="gripper">
                                                            <inertial pos="0.06623 0.00053 -0.00119" quat="-0.018184 0.706274 0.016077 0.707523" mass="0.58007" diaginertia="0.000866 0.000678 0.000351" />
                                                            <geom name="geom59" rgba="0.8 0 0 1" mesh="gripper_palm" contype="0"/>
                                                            <geom name="geom59f" type="capsule" pos="0.07750326 -0.00000579 -0.00000142" quat="0.49981788 0.50015276 -0.49991269 0.50011660" size="0.05263874 0.00669171" rgba="0.8 0 0 1" group="3"/>
                                                            <!--body name="l_gripper_led_frame" pos="0.0513 0 0.0244">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                            </body>
                                                            <body name="l_gripper_motor_accelerometer_link" pos="0 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.001 0.001 0.001" />
                                                                <geom name="geom60" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" />
                                                            </body>
                                                            <body name="l_gripper_tool_frame" pos="0.18 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                            </body-->
                                                            <body name="l_gripper_l_finger_link" pos="0.07691 0.01 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <joint name="l_gripper_l_finger_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 0.548"/>
                                                                <geom name="geom61" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                <body name="l_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
                                                                    <inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <joint name="l_gripper_l_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-.548 0"/>
                                                                    <geom name="l_gripper_l_finger_tip" rgba="0 0.8 0 1" mesh="l_finger_tip" />
                                                                </body>
                                                            </body>
                                                            <body name="l_gripper_r_finger_link" pos="0.07691 -0.01 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <joint name="l_gripper_r_finger_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="0 0.548"/>
                                                                <geom name="geom63" euler="3.14 0 0" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                <body name="l_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
                                                                    <inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <joint name="l_gripper_r_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="-.548 0"/>
                                                                    <geom name="l_gripper_r_finger_tip" euler="3.14 0 0" rgba="0 0.8 0 1" mesh="l_finger_tip" />
                                                                    <!--body name="l_gripper_l_finger_tip_frame" pos="0 0 0">
                                                                        <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                                        <joint name="l_gripper_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="0 0.09"/>
                                                                    </body-->
                                                                </body>
                                                            </body>
                                                            <!--body name="l_gripper_l_parallel_link" pos="0.05891 0.031 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <joint name="l_gripper_l_parallel_root_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 0.548"/>
                                                                <geom name="geom65" type="box" pos="0.045747 0 0" quat="0.999634 0 0 0.027058" size="0.045747 0.0025 0.0025" />
                                                            </body>
                                                            <body name="l_gripper_r_parallel_link" pos="0.05891 -0.031 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <joint name="l_gripper_r_parallel_root_joint" type="hinge" pos="0 0 0" axis="0 0 -1" limited="true" range="0 0.548"/>
                                                                <geom name="geom66" type="box" pos="0.045747 0 0" quat="0.999634 0 0 -0.027058" size="0.045747 0.0025 0.0025" />
                                                            </body-->
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                            <!--body name="l_forearm_cam_frame" pos="0.135 0 0.044" quat="0.679288 -0.679288 0.196387 -0.196387">
                                                <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
                                                <geom name="geom67" type="box" pos="0 0 0" size="0.005 0.005 0.005" />
                                                <body name="l_forearm_cam_optical_frame" pos="0 0 0" quat="0.5 -0.5 -0.5 -0.5">
                                                    <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                </body>
                                            </body-->
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
