<mujocoinclude>
<!-- ======================================================
    Model 		:: Sawyer (MuJoCoV2.0)
    Author      :: Vikash Kumar
        Contacts 	: vikashplus@gmail.com
        Last edits 	: 3Apr'20, 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.
====================================================== -->
    <body name="base_target" pos="0 0 .95" childclass='sawyer'>
        <body name="right_arm_base_link_target" pos="0 0 0">
            <inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" />
            <geom name='right_arm_base_link0_target' class="sawyer_viz_target" mesh="base" />
            <geom name='right_arm_base_link1_target' size="0.08 0.12" pos="0 0 0.12" type="cylinder" class="sawyer_col_target" />
            <body name="right_l0_target" pos="0 0 0.08">
                <inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" />
                <joint name="right_j0_target" pos="0 0 0" axis="0 0 1" range="-3.0503 3.0503" damping="50"/>
                <geom name='right_l0_g0_target' class="sawyer_viz_target" mesh="l0" />
                <geom name='right_l0_g1_target' size="0.07" pos="0.08 0 0.23" class="sawyer_col_target" />
                <!-- <body name="head_target" pos="0 0 0.2965"> -->
                <!--     <inertial pos="0.0053207 &#45;2.6549e&#45;05 0.1021" quat="0.999993 7.08405e&#45;05 &#45;0.00359857 &#45;0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" /> -->
                <!--     <!&#45;&#45; <joint name="head_pan" pos="0 0 0" axis="0 0 1" range="&#45;5.0952 0.9064"/> &#45;&#45;> -->
                <!--     <geom name='head_g0_target' class="sawyer_viz_target" mesh="head" /> -->
                <!--     <geom name='head_g1_target' size="0.18" pos="0 0 0.08" class="sawyer_col_target" /> -->
                <!--     <body name="screen_target" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5"> -->
                <!--         <geom size="0.12 0.07 0.001" type="box" group="1"/> -->
                <!--     </body> -->
                <!--     <site name="head_camera_target" size="0.01" pos="0.0228027 0 0.216572" quat="0.342813 &#45;0.618449 0.618449 &#45;0.342813"/> -->
                <!-- </body> -->
                <site name="right_torso_itb_target" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0"/>
                <body name="right_l1_target" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
                    <inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" />
                    <!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" range="-3.8095 2.2736"/>-->
                    <joint name="right_j1_target" pos="0 0 0" axis="0 0 1" range="-3.8 1.25" damping="50"/>
                    <!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" range="0.8095 2.2736"/>-->
                    <geom class="sawyer_viz_target" mesh="l1" />
                    <geom size="0.07" pos="0 0 0.1225" class="sawyer_col_target" />
                    <body name="right_l2_target" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
                        <inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" />
                        <joint name="right_j2_target" pos="0 0 0" axis="0 0 1" range="-3.0426 3.0426" damping="25"/>
                        <geom class="sawyer_viz_target" mesh="l2" />
                        <geom size="0.06 0.17" pos="0 0 0.08" type="capsule" class="sawyer_col_target" />
                        <body name="right_l3_target" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
                            <site name="armsite_target" pos="0 0 0" size="0.01" />
                            <inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" />
                            <joint name="right_j3_target" pos="0 0 0" axis="0 0 1" range="-3.0439 3.0439" damping="25"/>
                            <geom class="sawyer_viz_target" mesh="l3" />
                            <geom type="capsule" size="0.055 0.06" pos="0 0 -0.06" class="sawyer_col_target" />
                            <body name="right_l4_target" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
                                <!-- <inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" /> -->
                                <joint name="right_j4_target" pos="0 0 0" axis="0 0 1" range="-2.9761 2.9761" />
                                <geom class="sawyer_viz_target" mesh="l4" />
                                <geom size="0.045 0.15" pos="0 0 0.11" type="capsule" class="sawyer_col_target" />
                                <site name="right_arm_itb_target" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0"/>
                                <body name="right_l5_target" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
                                    <!-- <inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" /> -->
                                    <joint name="right_j5_target" pos="0 0 0" axis="0 0 1" range="-2.9761 2.9761"/>
                                    <geom class="sawyer_viz_target" mesh="l5" />
                                    <geom type="capsule" size="0.045 0.05" pos="0 0 0.05" class="sawyer_col_target" />
                                    <site name="right_hand_camera_target" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"/>
                                    <site name="right_wrist_target" pos="0 0 0.10541" quat="0.707107 0.707107 0 0"/>
                                    <body name="right_l6_target" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
                                        <!-- <inertial pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" mass="0.3292" diaginertia="0.000360258 0.000311068 0.000214974" /> -->
                                        <joint name="right_j6_target" pos="0 0 0" axis="0 0 1" range="-4.7124 4.7124"/>
                                        <geom class="sawyer_viz_target" mesh="l6"/>
                                        <geom size="0.055 0.025" pos="0 0.015 -0.01" type="cylinder" class="sawyer_col_target" />
                                        <body name="right_ee_attchment_target" pos="0 0 0.0245" quat="0.707107 0 0 0.707107" childclass="sawyer_gripper_target">
                                            <site name="grip_site_target" pos="0 0 0" size="0.01" type="sphere"/>

<!--  ================= BEGIN GRIPPER ================= /-->
                                            <include file="./common/gripper_target_chain.xml"/>
<!--  ================= END GRIPPER ================= /-->

                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>

</mujocoinclude>
