<mujoco model="Playground">
    <compiler angle="radian" />
    <!--<option timestep="0.002" noslip_iterations="20" />
-->
    <option timestep='0.002' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic" noslip_iterations="20" impratio="3"/>

    <size njmax="6000" nconmax="10000" nkey="2" />
    <visual>
        <global offwidth="4072" offheight="2262" />
        <quality shadowsize="2048" offsamples="8" />
        <headlight diffuse="0.6 0.6 0.6" specular="0 0 0" />
        <map fogstart="6" znear="0.05" />
        <scale forcewidth="0.01" framelength="0.1" framewidth="0.01" />
    </visual>
    <default class="main">
        <default class="viz_stl_Metal_LR">
            <geom type="mesh" group="1" material="M_Metal_LR" />
        </default>
        <default class="viz_stl_Wood_cube_LR">
            <geom type="mesh" group="1" material="M_Wood_cube_LR" />
        </default>
		<default class="viz_stl_black_Wood_cube_LR">
            <geom type="mesh" group="1" rgba="0 0 0 1" />
        </default>

        <default class="viz_stl_Wood_2d_LR">
            <geom type="mesh" group="1" material="M_Wood_2d_LR" />
        </default>
        <default class="viz_stl_Fabric_cube_LR">
            <geom type="mesh" group="1" material="M_Fabric_cube_LR" />
        </default>
        <default class="viz_stl_Fabric_2d_LR">
            <geom type="mesh" group="1" material="M_Fabric_2d_LR" />
        </default>
        <default class="viz_stl_Painting_cube_LR">
            <geom type="mesh" group="1" material="M_Painting_cube_LR" />
        </default>
        <default class="viz_drawer">
            <joint limited="true" armature="0.1" damping="2" frictionloss="5" />
            <geom contype="0" group="3" rgba="1 0 0 1" />
        </default>
        <default class="viz_body">
            <joint limited="true" armature="0.01" damping="1" frictionloss="0.5" />
            <geom contype="0" group="4" rgba="0 1 0 1" />
        </default>
    </default>
    <asset>
        <texture type="cube" name="T_Wood_cube_LR" file="../playroom/textures/Surface_wood_chipboard.jpg.png" />
        <texture type="2d" name="T_Wood_2d_LR" file="../playroom/textures/Surface_wood_chipboard.jpg.png" />
        <texture type="cube" name="T_Metal_LR" file="../playroom/textures/Texture_P7220210.JPG.png" />
        <texture type="cube" name="T_Fabric_cube_LR" file="../playroom/textures/Blue_Gray_knit_texture.jpg.png" />
        <texture type="2d" name="T_Fabric_2d_LR" file="../playroom/textures/Fabric_length_(AM_842431-1).jpg.png" />
        <texture type="cube" name="T_Painting_cube_LR" file="../playroom/textures/Coloured,_textured_craft_card_edit.jpg.png" />
        <texture type="2d" name="groundplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" width="200" height="200" />
        <texture type="skybox" name="skybox" builtin="gradient" mark="random" rgb1="0.4 0.6 0.8" rgb2="0 0 0" markrgb="1 1 1" width="800" height="4800" />
        <material name="M_Fabric_cube_LR" texture="T_Fabric_cube_LR" shininess="0" />
        <material name="M_Fabric_2d_LR" texture="T_Fabric_2d_LR" texuniform="true" texrepeat="3 3" shininess="0" rgba="0.2 0.2 0.2 1" />
        <material name="groundplane" texture="groundplane" texrepeat="20 20" />
        <material name="M_Wood_cube_LR" texture="T_Wood_cube_LR" shininess="0.2" reflectance="0.3" rgba="0.8 0.8 0.8 1" />
        <material name="M_Wood_2d_LR" texture="T_Wood_2d_LR" shininess="0.2" reflectance="0.3" rgba="0.8 0.8 0.8 1" />
        <material name="M_Metal_LR" texture="T_Metal_LR" texrepeat="3 3" reflectance="0.7" />
        <material name="M_Painting_cube_LR" texture="T_Painting_cube_LR" shininess="0.2" reflectance="0.3" />
        <material name="MatViz" specular="1" shininess="0.1" reflectance="0.5" rgba="0.07 0.07 0.1 1" />
        <mesh name="SSC_Body" file="meshes//SSC_Body.stl" scale="0.01 0.01 0.01" />
        <mesh name="SSC_Stand" file="../playroom/meshes//SSC_Stand.stl" scale="0.01 0.01 0.01" />
        <mesh name="Table_Top" file="../playroom/meshes//Table_Top.stl" scale="0.01 0.01 0.01" />
        <mesh name="Table_Bottom" file="../playroom/meshes//Table_Bottom.stl" scale="0.01 0.01 0.01" />
        <mesh name="Doorway_Top" file="../playroom/meshes//Doorway_Top.stl" scale="0.01 0.01 0.01" />
        <mesh name="Doorway_Bottom" file="../playroom/meshes//Doorway_Bottom.stl" scale="0.01 0.01 0.01" />
        <mesh name="Window_Top" file="../playroom/meshes//Window_Top.stl" scale="0.01 0.01 0.01" />
        <mesh name="Window_Bottom" file="../playroom/meshes//Window_Bottom.stl" scale="0.01 0.01 0.01" />
        <mesh name="Wall_Top" file="../playroom/meshes//Wall_Top.stl" scale="0.01 0.01 0.01" />
        <mesh name="Wall_Bottom" file="../playroom/meshes//Wall_Bottom.stl" scale="0.01 0.01 0.01" />
        <mesh name="Lamp_Top" file="../playroom/meshes//Lamp_Top.stl" scale="0.01 0.01 0.01" />
        <mesh name="Lamp_Stand" file="../playroom/meshes//Lamp_Stand.stl" scale="0.01 0.01 0.01" />
        <mesh name="Painting_Canvas" file="../playroom/meshes//Painting_Canvas.stl" scale="0.01 0.01 0.01" />
        <mesh name="Painting_Frame" file="../playroom/meshes//Painting_Frame.stl" scale="0.01 0.01 0.01" />
        <mesh name="StudyTable" file="../playroom/meshes//StudyTable.stl" scale="0.01 0.01 0.01" />
        <mesh name="Drawer_Wood" file="../playroom/meshes//Drawer_Wood.stl" scale="0.01 0.01 0.01" />
        <mesh name="Drawer_Handle" file="../playroom/meshes//Drawer_Handle.stl" scale="0.01 0.01 0.01" />
        <mesh name="Slide_Wood" file="../playroom/meshes//Slide_Wood.stl" scale="0.01 0.01 0.01" />
        <mesh name="Slide_Handle" file="../playroom/meshes//Slide_Handle.stl" scale="0.01 0.01 0.01" />
        <mesh name="BlockBin" file="../playroom/meshes//BlockBin.stl" scale="0.01 0.01 0.01" />
    </asset>

    <include file="../playroom/franka_sim/assets/assets.xml"/>
    <include file='../playroom/franka_sim/assets/grip_actuator.xml'/>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.03 1.0"></weld>

    </equality>

    <worldbody>
        <body mocap="true" name="mocap" pos="0 0 0">
                <!--For debugging, set the alpha to 1-->
                <!--<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.5 0.5 0.5 1" size="0.1 0.02 0.02" type="box"></geom>-->
                <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.01" type="sphere"></geom>
                <site name="mocap" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.01" type="sphere"></site>
        </body>

        <include file="../playroom/franka_sim/assets/chain0.xml"/>

        
        <geom size="4 4 0.25" type="plane" material="groundplane" />
        <light pos="0.4 -1 2.8" dir="-0.125491 0.313728 -0.941184" />
        <light pos="-1.7 -2.8 2" dir="0 0 -1" />
        <light pos="-3.6 0 2" dir="0 0 -1" />
        <light pos="0 0 0" dir="0.705346 -0.0705346 -0.705346" />
        <light pos="0 0 2.8" dir="0 -0.707107 -0.707107" />
        <body name="SSC_01" pos="0.7 -2.7 0.02" quat="-0.416147 0 0 0.909297">
            <inertial pos="-1.69568e-05 0.102849 0.460734" quat="0.665175 -0.239795 0.239645 0.66529" mass="255.007" diaginertia="25.2596 22.2539 12.2075" />
            <geom class="viz_stl_Fabric_cube_LR" contype="0" conaffinity="0" mesh="SSC_Body" />
            <geom class="viz_stl_Wood_cube_LR" contype="0" conaffinity="0" mesh="SSC_Stand" />
        </body>
        <body name="SSC_02" pos="-0.7 -2.7 0.02" quat="0.540302 0 0 0.841471">
            <inertial pos="-1.69568e-05 0.102849 0.460734" quat="0.665175 -0.239795 0.239645 0.66529" mass="255.007" diaginertia="25.2596 22.2539 12.2075" />
            <geom class="viz_stl_Fabric_cube_LR" contype="0" conaffinity="0" mesh="SSC_Body" />
            <geom class="viz_stl_Wood_cube_LR" contype="0" conaffinity="0" mesh="SSC_Stand" />
        </body>
        <body name="Table" pos="0.1 -1.85 0.02" quat="-0.801144 0 0 0.598472">
            <inertial pos="-0.0771861 6.57209e-05 0.268149" quat="0.0822003 0.714375 -0.0781205 0.690514" mass="74.2001" diaginertia="2.9359 2.61546 2.24078" />
            <geom class="viz_stl_Wood_2d_LR" contype="0" conaffinity="0" mesh="Table_Top" />
            <geom class="viz_stl_Metal_LR" contype="0" conaffinity="0" mesh="Table_Bottom" />
        </body>
        <body name="Wall_01" pos="1.6 0.3 0">
            <inertial pos="-1.524 0.0597068 1.72544" quat="0.500185 0.499815 0.500185 0.499815" mass="1066.43" diaginertia="1605.4 905.276 702.954" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Wall_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Wall_Bottom" />
        </body>
        <body name="Window_03" pos="-0.27 -3.2 0" quat="0.000296327 0 0 1">
            <inertial pos="-0.888568 0.0609232 1.3669" quat="0.707098 -0.00125646 0.00119453 0.707113" mass="894.917" diaginertia="996.607 768.536 230.185" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Window_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Window_Bottom" />
        </body>
        <body name="Wall_02" pos="-3.318 -3.2 0" quat="0.000296327 0 0 1">
            <inertial pos="-1.524 0.0597068 1.72544" quat="0.500185 0.499815 0.500185 0.499815" mass="1066.43" diaginertia="1605.4 905.276 702.954" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Wall_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Wall_Bottom" />
        </body>
        <body name="Wall_03" pos="-1.447 0.3 0">
            <inertial pos="-1.524 0.0597068 1.72544" quat="0.500185 0.499815 0.500185 0.499815" mass="1066.43" diaginertia="1605.4 905.276 702.954" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Wall_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Wall_Bottom" />
        </body>
        <body name="Doorway_01" pos="-2.1 0.3 0" quat="0.707035 0 0 0.707179">
            <inertial pos="-0.761487 0.0559083 1.67853" quat="0.707106 -0.00122681 0.00122681 0.707106" mass="803.811" diaginertia="634.086 474.182 161.903" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Doorway_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Doorway_Bottom" />
        </body>
        <body name="Wall_04" pos="-2.1 -1.15 0" quat="0.707035 0 0 0.707179">
            <inertial pos="-1.524 0.0597068 1.72544" quat="0.500185 0.499815 0.500185 0.499815" mass="1066.43" diaginertia="1605.4 905.276 702.954" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Wall_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Wall_Bottom" />
        </body>
        <body name="Window_04" pos="-3.9 0.3 0" quat="0.707035 0 0 0.707179">
            <inertial pos="-0.888568 0.0609232 1.3669" quat="0.707098 -0.00125646 0.00119453 0.707113" mass="894.917" diaginertia="996.607 768.536 230.185" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Window_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Window_Bottom" />
        </body>
        <body name="Wall_05" pos="-3.9 -1.45 0" quat="0.707035 0 0 0.707179">
            <inertial pos="-1.524 0.0597068 1.72544" quat="0.500185 0.499815 0.500185 0.499815" mass="1066.43" diaginertia="1605.4 905.276 702.954" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="Wall_Top" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="Wall_Bottom" />
        </body>
        <body name="Lamp_01" pos="-1.7 -2.8 0">
            <inertial pos="8.37319e-09 5.67069e-08 0.798383" quat="0.707107 0 0 0.707107" mass="221.061" diaginertia="74.0867 74.0867 4.03714" />
            <geom class="viz_stl_Fabric_cube_LR" contype="0" conaffinity="0" mesh="Lamp_Top" />
            <geom class="viz_stl_Metal_LR" contype="0" conaffinity="0" mesh="Lamp_Stand" />
        </body>
        <body name="Lamp_02" pos="-3.6 0 0">
            <inertial pos="8.37319e-09 5.67069e-08 0.798383" quat="0.707107 0 0 0.707107" mass="221.061" diaginertia="74.0867 74.0867 4.03714" />
            <geom class="viz_stl_Fabric_cube_LR" contype="0" conaffinity="0" mesh="Lamp_Top" />
            <geom class="viz_stl_Metal_LR" contype="0" conaffinity="0" mesh="Lamp_Stand" />
        </body>
        <body name="Ceiling" pos="-1.5 -1.5 3.048" quat="0.707035 0 0 0.707179">
            <inertial pos="0 0 0" mass="4800" diaginertia="14416 6416 20800" />
            <geom size="2 3 0.1" type="box" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" />
        </body>
        <body name="Rug_01" pos="0 -2.2 0.01">
            <inertial pos="0 0 0" mass="88" diaginertia="29.3363 35.4963 64.8267" />
            <geom size="1.1 1 0.01" type="box" contype="0" conaffinity="0" group="1" material="M_Fabric_2d_LR" />
        </body>
        <body name="Rug_02" pos="-3 -1 0.01">
            <inertial pos="0 0 0" mass="52.8" diaginertia="21.2978 6.33776 27.632" />
            <geom size="0.6 1.1 0.01" type="box" contype="0" conaffinity="0" group="1" material="M_Fabric_2d_LR" />
        </body>
        <body name="Painting_01" pos="-2.1 -1.9 1.5" quat="-0.707146 0 0 0.707068">
            <inertial pos="2.5287e-10 0.0143313 5.58441e-11" quat="0.5 0.5 0.5 0.5" mass="23.3902" diaginertia="2.21053 1.5358 0.677409" />
            <geom class="viz_stl_Painting_cube_LR" contype="0" conaffinity="0" mesh="Painting_Canvas" />
            <geom class="viz_stl_Metal_LR" contype="0" conaffinity="0" mesh="Painting_Frame" />
        </body>
        <body name="Painting_02" pos="0 0.305 1.5" quat="0.000796327 0 0 1">
            <inertial pos="2.5287e-10 0.0143313 5.58441e-11" quat="0.5 0.5 0.5 0.5" mass="23.3902" diaginertia="2.21053 1.5358 0.677409" />
            <geom class="viz_stl_Painting_cube_LR" contype="0" conaffinity="0" mesh="Painting_Canvas" />
            <geom class="viz_stl_Metal_LR" contype="0" conaffinity="0" mesh="Painting_Frame" />
        </body>
        <body name="obj1" pos="0 -0.5 0.66" quat="0.707388 0 0.706825 0">
            <inertial pos="0 0 0" mass="2.648" diaginertia="0.001944 0.001944 0.0003888" />
            <joint type="free" />
            <geom contype="1" conaffinity="1" size="0.03 0.03 0.09" type="box" rgba="0.8 0.7 0.9 1" />
        </body>
        <body name="obj2" pos="0.3 -0.25 0.86" quat="0.980067 0 0 -0.198669">
            <inertial pos="0 0 0" mass="2.648" diaginertia="0.001944 0.001944 0.0003888" />
            <joint type="free" />
            <geom contype="1" conaffinity="1" size="0.03 0.03 0.09" type="box" rgba="0.7 0.9 0.9 1" />
        </body>
        <body name="obj3" pos="0.12 -0.5 0.86" quat="0.995004 0 0 -0.0998334">
            <inertial pos="0 0 0" mass="2.648" diaginertia="0.001944 0.001944 0.0003888" />
            <joint type="free" />
            <geom contype="1" conaffinity="1" size="0.03 0.03 0.09" type="box" rgba="0.5 0.9 0.9 1" />
        </body>
        <body name="Button 1" pos="0 -0.4 -0.2">
            <inertial pos="-0.15 0.15 0.79" mass="1" diaginertia="0.001 0.001 0.001" />
            <joint name="Button_Joint_1" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" stiffness="0.5" range="-0.1 0" damping="1" />
            <geom size="0.03 0.02" pos="-0.15 0.15 0.79" type="cylinder" group="1" rgba="0.3 0 0 1" />
        </body>
        <body name="Button SeeSaw 1" pos="0 -0.4 -0.2">
            <inertial pos="-0.15 0.22 0.754" mass="0.01" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonSeeSaw_Joint_1" pos="-0.15 0.22 0.754" axis="-1 0 0" springref="1" limited="true" stiffness="0.5" range="-0.78 0" damping="0.01" />
            <geom size="0.02 0.075 0.005" pos="-0.15 0.22 0.754" type="box" group="4" rgba="1 0.1 0.1 1" />
        </body>
        <body name="Button Upper 1" pos="0 -0.4 -0.2">
            <inertial pos="-0.15 0.265 0.76" mass="0.1" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonUpper_Joint_1" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" range="0 0.017" />
            <geom size="0.02 0.03 0.005" pos="-0.15 0.265 0.79" quat="0.707388 0.706825 0 0" type="box" group="4" rgba="1 0.1 0.1 1" />
            <geom size="0.06 0.0075" pos="-0.15 0.15 1.109" type="cylinder" group="1" rgba="1 0 0 1" />
        </body>
        <body name="Button 2" pos="0 -0.4 -0.2">
            <inertial pos="-0.3 0.15 0.79" mass="1" diaginertia="0.001 0.001 0.001" />
            <joint name="Button_Joint_2" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" stiffness="0.5" range="-0.1 0" damping="1" />
            <geom size="0.03 0.02" pos="-0.3 0.15 0.79" type="cylinder" group="1" rgba="0 0.3 0 1" />
        </body>
        <body name="Button SeeSaw 2" pos="0 -0.4 -0.2">
            <inertial pos="-0.3 0.22 0.754" mass="0.01" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonSeeSaw_Joint_2" pos="-0.15 0.22 0.754" axis="-1 0 0" springref="1" limited="true" stiffness="0.5" range="-0.78 0" damping="0.01" />
            <geom size="0.02 0.075 0.005" pos="-0.3 0.22 0.754" type="box" group="4" rgba="0.1 1 0.1 1" />
        </body>
        <body name="Button Upper 2" pos="0 -0.4 -0.2">
            <inertial pos="-0.3 0.265 0.76" mass="0.1" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonUpper_Joint_2" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" range="0 0.017" />
            <geom size="0.02 0.03 0.005" pos="-0.3 0.265 0.79" quat="0.707388 0.706825 0 0" type="box" group="4" rgba="0.1 1 0.1 1" />
            <geom size="0.06 0.0075" pos="-0.3 0.15 1.109" type="cylinder" group="1" rgba="0 1 0 1" />
        </body>
        <body name="Button 3" pos="0 -0.4 -0.2">
            <inertial pos="-0.45 0.15 0.79" mass="1" diaginertia="0.001 0.001 0.001" />
            <joint name="Button_Joint_3" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" stiffness="0.5" range="-0.1 0" damping="1" />
            <geom size="0.03 0.02" pos="-0.45 0.15 0.79" type="cylinder" group="1" rgba="0 0 0.3 1" />
        </body>
        <body name="Button SeeSaw 3" pos="0 -0.4 -0.2">
            <inertial pos="-0.45 0.22 0.754" mass="0.01" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonSeeSaw_Joint_3" pos="-0.15 0.22 0.754" axis="-1 0 0" springref="1" limited="true" stiffness="0.5" range="-0.78 0" damping="0.01" />
            <geom size="0.02 0.075 0.005" pos="-0.45 0.22 0.754" type="box" group="4" rgba="0.1 0.1 1 1" />
        </body>
        <body name="Button Upper 3" pos="0 -0.4 -0.2">
            <inertial pos="-0.45 0.265 0.76" mass="0.1" diaginertia="0.001 0.001 0.001" />
            <joint name="ButtonUpper_Joint_3" pos="0 0 0" axis="0 0 1" type="slide" springref="1" limited="true" range="0 0.017" />
            <geom size="0.02 0.03 0.005" pos="-0.45 0.265 0.79" quat="0.707388 0.706825 0 0" type="box" group="4" rgba="0.1 0.1 1 1" />
            <geom size="0.06 0.0075" pos="-0.45 0.15 1.109" type="cylinder" group="1" rgba="0 0 1 1" />
        </body>
        <body name="StudyTable" childclass="viz_body" pos="0 -0.4 -0.2">
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            <inertial pos="0 0 0" mass="1" diaginertia="0.001 0.001 0.001" />
            <joint pos="0 0 0" axis="1 0 0" type="slide" range="0 0.6" />
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 _-->
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        <body name="BlockBin" childclass="viz_body" pos="0.4 -0.9 0">
            <inertial pos="0 0 0" mass="2" diaginertia="0.001 0.001 0.001" />
            <geom class="viz_stl_Metal_LR" quat="0.000563312 -0.000562864 0.706825 0.707388" contype="0" conaffinity="0" mesh="BlockBin" />
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        </body>
        <!--<camera mode="fixed" name="cam0" pos="-0.6 -0.6 2.0" quat="0.5 -0.5 -0.5 0.5"/>-->
        <!--<camera mode="fixed" name="cam0" pos="-0.85 -0.8 1.3" euler="0.63 -0.75 2.5"/>-->
		<!-- side view -->
        <!-- <camera mode="fixed" name="cam0" pos="-0.85 -1.4 2.0" euler="0.63 -0.75 2.5"/>-->
		<!-- side view -->
        <!-- <camera mode="fixed" name="cam0" pos="0.65 -0.95 1.4" euler="0.63 0.50 3.3"/>-->
        <!--<camera mode="fixed" name="cam0" pos="0.80 -0.70 1.4" euler="0.45 0.60 3.7"/>-->
        <camera mode="fixed" name="cam0" pos="0.98 -0.75 1.35" euler="0.48 0.73 3.9"/>
    </worldbody>
</mujoco>
