<mujoco model="rx1">
  <visual>
    <global offwidth="896" offheight="512" />
  </visual>
  <default>
    <joint damping="1.0" armature="0.05" />
    <position kp="700.0" dampratio="1.2" />
  </default>
  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast" iterations="100" ls_iterations="50" />
  <compiler angle="radian" meshdir="F:\world_model_test\rx1_mujoco\meshes_mjcf/" />
  <asset>
    <mesh name="base_link" content_type="model/stl" file="base_link.stl" />
    <mesh name="torso_yaw_link" content_type="model/stl" file="torso_yaw_link.stl" />
    <mesh name="torso_link" content_type="model/stl" file="torso_link.stl" />
    <mesh name="head_base_link" content_type="model/stl" file="head/head_base_link.stl" />
    <mesh name="neck_yaw_link" content_type="model/stl" file="head/neck_yaw_link.stl" />
    <mesh name="neck_pitch_link" content_type="model/stl" file="head/neck_pitch_link.stl" />
    <mesh name="head_depth_cam_mount_link" content_type="model/stl" file="head/head_depth_cam_mount_link.stl" />
    <mesh name="right_ear_link" content_type="model/stl" file="head/right_ear_link.stl" />
    <mesh name="left_ear_link" content_type="model/stl" file="head/left_ear_link.stl" />
    <mesh name="right_upper_arm_link" content_type="model/stl" file="right_arm/right_upper_arm_link.stl" />
    <mesh name="right_elbow_link" content_type="model/stl" file="right_arm/right_elbow_link.stl" />
    <mesh name="right_forearm_link" content_type="model/stl" file="right_arm/right_forearm_link.stl" />
    <mesh name="right_hand_link" content_type="model/stl" file="right_arm/right_hand_link.stl" />
    <mesh name="left_upper_arm_link" content_type="model/stl" file="left_arm/left_upper_arm_link.stl" />
    <mesh name="left_elbow_link" content_type="model/stl" file="left_arm/left_elbow_link.stl" />
    <mesh name="left_forearm_link" content_type="model/stl" file="left_arm/left_forearm_link.stl" />
    <mesh name="left_hand_link" content_type="model/stl" file="left_arm/left_hand_link.stl" />
    <texture name="sky" type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512" />
    <texture name="grid" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512" />
    <material name="grid" texture="grid" texrepeat="6 6" reflectance="0.1" />
    <material name="wood" rgba="0.7 0.5 0.3 1" />
    <material name="mat_red_cube" rgba="0.85 0.2 0.2 1" />
    <material name="mat_blue_cube" rgba="0.42 0.35 0.9 1" />
    <material name="mat_green_cube" rgba="0.2 0.7 0.2 1" />
    <material name="mat_yellow_cube" rgba="0.85 0.8 0.2 1" />
    <material name="mat_box" rgba="0.55 0.4 0.25 1" />
  </asset>
  <worldbody>
    <body name="base_link">
      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="5" diaginertia="0.148003 0.147993 0.0132405" />
      <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="base_link" />
      <geom type="mesh" rgba="1 1 1 1" mesh="base_link" contype="1" conaffinity="6" />
      <body name="torso_yaw_link" pos="0 0 0.5825">
        <inertial pos="0 0 0" mass="5" diaginertia="0.0442607 0.0358901 0.0182706" />
        <joint name="base2torso_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="5" />
        <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="torso_yaw_link" />
        <geom type="mesh" rgba="1 1 1 1" mesh="torso_yaw_link" contype="1" conaffinity="6" />
        <body name="torso_pitch_link" pos="0 0 0.15">
          <inertial pos="0 0 0" mass="0.5" diaginertia="6.5625e-05 6.5625e-05 5.625e-05" />
          <joint name="torso_yaw2pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
          <geom size="0.015 0.015" quat="0.707123 0.70709 0 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
          <geom size="0.01 0.015" quat="0.707123 0.70709 0 0" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
          <body name="torso_roll_link">
            <inertial pos="0 0 0" mass="0.5" diaginertia="6.5625e-05 6.5625e-05 5.625e-05" />
            <joint name="torso_pitch2roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
            <geom size="0.015 0.015" quat="0.707123 0 0.70709 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 0 0 1" />
            <geom size="0.01 0.015" quat="0.707123 0 0.70709 0" type="cylinder" rgba="1 0 0 1" contype="1" conaffinity="6" />
            <body name="torso_link" pos="0 0 0.08">
              <inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="1" diaginertia="0.00839643 0.00544843 0.00371867" />
              <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="torso_link" />
              <geom type="mesh" rgba="1 1 1 1" mesh="torso_link" contype="1" conaffinity="6" />
              <body name="head_base_link" pos="0 0 0.21">
                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.05" diaginertia="4.16667e-05 3.47333e-05 2.30667e-05" />
                <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="head_base_link" />
                <geom type="mesh" rgba="1 1 1 1" mesh="head_base_link" contype="1" conaffinity="6" />
                <body name="neck_yaw_link">
                  <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="3.55172e-05 2.63328e-05 2.38844e-05" />
                  <joint name="head_base2neck_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                  <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="neck_yaw_link" />
                  <geom type="mesh" rgba="1 1 1 1" mesh="neck_yaw_link" contype="1" conaffinity="6" />
                  <body name="neck_pitch_link" pos="0 0 0.035">
                    <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="9.76549e-05 9.3669e-05 2.91942e-05" />
                    <joint name="neck_yaw2pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                    <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="neck_pitch_link" />
                    <geom type="mesh" rgba="1 1 1 1" mesh="neck_pitch_link" contype="1" conaffinity="6" />
                    <body name="head_depth_cam_mount_link" pos="-0.01 0 0.1">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.05" diaginertia="0.000116107 0.000114457 4.30639e-05" />
                      <joint name="neck_pitch2head_depth_cam_mount_joint" pos="0 0 0" axis="1 0 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" />
                      <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="head_depth_cam_mount_link" />
                      <geom type="mesh" rgba="1 1 1 1" mesh="head_depth_cam_mount_link" contype="1" conaffinity="6" />
                      <body name="camera_link" pos="0.05 0 0.03">
                        <inertial pos="0 0 0" mass="0.05" diaginertia="8.33333e-07 8.33333e-07 8.33333e-07" />
                        <geom size="0.005 0.005 0.005" type="box" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" />
                        <geom size="0.005 0.005 0.005" type="box" rgba="1 1 1 1" contype="1" conaffinity="6" />
                        <camera name="ego" pos="0.02 0 0" xyaxes="0 -1 0  0.819 0 0.574" fovy="75" />
                      </body>
                      <body name="right_ear_link" pos="0 -0.065 0.045">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="7.70823e-05 7.07541e-05 7.00313e-06" />
                        <joint name="head_depth_cam_mount2right_ear_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" />
                        <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="right_ear_link" />
                        <geom type="mesh" rgba="1 1 1 1" mesh="right_ear_link" contype="1" conaffinity="6" />
                      </body>
                      <body name="left_ear_link" pos="0 0.065 0.045">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.05" diaginertia="7.70823e-05 7.07541e-05 7.00313e-06" />
                        <joint name="head_depth_cam_mount2left_ear_joint" pos="0 0 0" axis="0 1 0" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" />
                        <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="left_ear_link" />
                        <geom type="mesh" rgba="1 1 1 1" mesh="left_ear_link" contype="1" conaffinity="6" />
                      </body>
                    </body>
                  </body>
                </body>
                <body name="right_shoul_base_link" pos="0 -0.12 -0.05" quat="0.866059 0.499941 0 0">
                  <inertial pos="0 0 0" mass="0.2" diaginertia="0.00011375 0.00011375 4e-05" />
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" />
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                  <body name="right_shoul_link" pos="0 0 0.075">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.000151667 0.000151667 9e-05" />
                    <joint name="right_shoul_base2shoul_joint" pos="0 0 0" axis="0 0 1" range="-2.5132 2.5132" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 0 0 1" />
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" rgba="1 0 0 1" contype="1" conaffinity="6" />
                    <body name="right_shoul_rot_link" pos="0 0 0.08" quat="0.866059 -0.499941 0 0">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.2" diaginertia="9e-05 7.16667e-05 7.16667e-05" />
                      <joint name="right_shoul2shoul_rot_joint" pos="0 0 0" axis="1 0 0" range="-1.57075 0.50264" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                      <body name="right_upper_arm_link" pos="0 0 -0.0625">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000295128 0.000264693 9.86314e-05" />
                        <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="right_upper_arm_link" />
                        <geom type="mesh" rgba="1 1 1 1" mesh="right_upper_arm_link" contype="1" conaffinity="6" />
                        <body name="right_armrot_link" pos="0 0 -0.0625">
                          <inertial pos="0 0 0" mass="0.1" diaginertia="0.000573437 0.000552867 8.46372e-05" />
                          <joint name="right_arm2armrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                          <geom pos="0 0 -0.11" type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="right_elbow_link" />
                          <geom size="0.03 0.11" pos="0 0 -0.11" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                          <body name="right_elbow_link" pos="0 0 -0.22">
                            <inertial pos="0 0 0" mass="0.1" diaginertia="7.58333e-05 7.58333e-05 4.5e-05" />
                            <joint name="right_armrot2elbow_joint" pos="0 0 0" axis="0 1 0" range="-2.19905 0" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                            <geom size="0.03 0.04" quat="0.500023 0.499977 0.5 -0.5" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                            <geom size="0.03 0.04" quat="0.500023 0.499977 0.5 -0.5" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                            <body name="right_forearm_link" pos="0 0 -0.045">
                              <inertial pos="0 0 0" mass="0.1" diaginertia="9e-05 9e-05 4.5e-05" />
                              <geom size="0.03 0.045" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" />
                              <geom size="0.03 0.045" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                              <body name="right_forearmrot_link" pos="0 0 -0.045">
                                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000399952 0.000388406 0.000112426" />
                                <joint name="right_forearm2forearmrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                <geom pos="0 0 -0.09" quat="1 0 0 0" type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="right_forearm_link" />
                                <geom size="0.015 0.09" pos="0 0 -0.09" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                                <body name="right_forearm_pitch_link" pos="0 0 -0.18">
                                  <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05" />
                                  <joint name="right_forearmrot2forearm_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                  <geom size="0.015 0.015" quat="0.707123 0.70709 0 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                                  <geom size="0.01 0.015" quat="0.707123 0.70709 0 0" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                                  <body name="right_forearm_roll_link">
                                    <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05" />
                                    <joint name="right_forearm_pitch2forearm_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                    <geom size="0.015 0.015" quat="0.707123 0 0.70709 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 0 0 1" />
                                    <geom size="0.01 0.015" quat="0.707123 0 0.70709 0" type="cylinder" rgba="1 0 0 1" contype="1" conaffinity="6" />
                                    <body name="right_hand_link" pos="0 0 -0.1">
                                      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000382709 0.000378299 0.000122885" />
                                      <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_link" />
                                      <geom size="0.02 0.01 0.06" type="box" rgba="1 1 1 1" contype="1" conaffinity="6" />
                                      <site name="right_grasp" pos="0 0.015 -0.05" size="0.008" rgba="0 1 0 0.4" />
                                      <body name="right_finger0" pos="-0.012 -0.004 -0.05">
                                        <joint name="right_finger0" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="right_finger0_tip" pos="0 0 -0.035">
                                          <joint name="right_finger0_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="right_finger1" pos="-0.004 -0.004 -0.05">
                                        <joint name="right_finger1" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="right_finger1_tip" pos="0 0 -0.035">
                                          <joint name="right_finger1_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="right_finger2" pos="0.004 -0.004 -0.05">
                                        <joint name="right_finger2" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="right_finger2_tip" pos="0 0 -0.035">
                                          <joint name="right_finger2_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="right_finger3" pos="0.012 -0.004 -0.05">
                                        <joint name="right_finger3" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="right_finger3_tip" pos="0 0 -0.035">
                                          <joint name="right_finger3_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="right_thumb" pos="0.04 0.015 -0.01">
                                        <joint name="right_thumb" type="hinge" axis="0 1 0" range="0 1.4" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 -0.035 0 -0.02" size="0.008" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                      </body>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
                <body name="left_shoul_base_link" pos="0 0.12 -0.05" quat="0.866059 -0.499941 0 0">
                  <inertial pos="0 0 0" mass="0.2" diaginertia="0.00011375 0.00011375 4e-05" />
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" />
                  <geom size="0.02 0.0375" pos="0 0 0.0375" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                  <body name="left_shoul_link" pos="0 0 0.075">
                    <inertial pos="0 0 0" mass="0.2" diaginertia="0.000151667 0.000151667 9e-05" />
                    <joint name="left_shoul_base2shoul_joint" pos="0 0 0" axis="0 0 1" range="-2.5132 2.5132" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 0 0 1" />
                    <geom size="0.03 0.04" pos="0 0 0.04" type="cylinder" rgba="1 0 0 1" contype="1" conaffinity="6" />
                    <body name="left_shoul_rot_link" pos="0 0 0.08" quat="0.866059 0.499941 0 0">
                      <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.2" diaginertia="9e-05 7.16667e-05 7.16667e-05" />
                      <joint name="left_shoul2shoul_rot_joint" pos="0 0 0" axis="1 0 0" range="-0.50264 1.57075" actuatorfrcrange="-50 50" damping="0.5" frictionloss="0.1" />
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                      <geom size="0.03 0.02" quat="0.707123 0 0.70709 0" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                      <body name="left_upper_arm_link" pos="0 0 -0.0625">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000295128 0.000264693 9.86314e-05" />
                        <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="left_upper_arm_link" />
                        <geom type="mesh" rgba="1 1 1 1" mesh="left_upper_arm_link" contype="1" conaffinity="6" />
                        <body name="left_armrot_link" pos="0 0 -0.0625">
                          <inertial pos="0 0 0" mass="0.1" diaginertia="0.000573437 0.000552867 8.46372e-05" />
                          <joint name="left_arm2armrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                          <geom pos="0 0 -0.11" type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="left_elbow_link" />
                          <geom size="0.03 0.11" pos="0 0 -0.11" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                          <body name="left_elbow_link" pos="0 0 -0.22">
                            <inertial pos="0 0 0" mass="0.1" diaginertia="7.58333e-05 7.58333e-05 4.5e-05" />
                            <joint name="left_armrot2elbow_joint" pos="0 0 0" axis="0 1 0" range="-2.19905 0" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                            <geom size="0.03 0.04" quat="0.500023 -0.499977 -0.5 -0.5" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                            <geom size="0.03 0.04" quat="0.500023 -0.499977 -0.5 -0.5" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                            <body name="left_forearm_link" pos="0 0 -0.045">
                              <inertial pos="0 0 0" mass="0.1" diaginertia="9e-05 9e-05 4.5e-05" />
                              <geom size="0.03 0.045" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" />
                              <geom size="0.03 0.045" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                              <body name="left_forearmrot_link" pos="0 0 -0.045">
                                <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000399952 0.000388406 0.000112426" />
                                <joint name="left_forearm2forearmrot_joint" pos="0 0 0" axis="0 0 1" range="-1.57075 1.57075" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                <geom pos="0 0 -0.09" quat="1 0 0 0" type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="left_forearm_link" />
                                <geom size="0.015 0.09" pos="0 0 -0.09" type="cylinder" rgba="1 1 1 1" contype="1" conaffinity="6" />
                                <body name="left_forearm_pitch_link" pos="0 0 -0.18">
                                  <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05" />
                                  <joint name="left_forearmrot2forearm_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                  <geom size="0.015 0.015" quat="0.707123 -0.70709 0 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="0 0 1 1" />
                                  <geom size="0.01 0.015" quat="0.707123 -0.70709 0 0" type="cylinder" rgba="0 0 1 1" contype="1" conaffinity="6" />
                                  <body name="left_forearm_roll_link">
                                    <inertial pos="0 0 0" mass="0.1" diaginertia="1.3125e-05 1.3125e-05 1.125e-05" />
                                    <joint name="left_forearm_pitch2forearm_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.785375 0.785375" actuatorfrcrange="-50 50" damping="0.1" frictionloss="0.1" />
                                    <geom size="0.015 0.015" quat="0.707123 0 -0.70709 0" type="cylinder" contype="1" conaffinity="6" group="1" density="0" rgba="1 0 0 1" />
                                    <geom size="0.01 0.015" quat="0.707123 0 -0.70709 0" type="cylinder" rgba="1 0 0 1" contype="1" conaffinity="6" />
                                    <body name="left_hand_link" pos="0 0 -0.1">
                                      <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.1" diaginertia="0.000382709 0.000378299 0.000122885" />
                                      <geom type="mesh" contype="1" conaffinity="6" group="1" density="0" rgba="1 1 1 1" mesh="left_hand_link" />
                                      <geom size="0.02 0.01 0.06" type="box" rgba="1 1 1 1" contype="1" conaffinity="6" />
                                      <site name="left_grasp" pos="0 0.015 -0.05" size="0.008" rgba="0 1 0 0.4" />
                                      <body name="left_finger0" pos="-0.012 -0.004 -0.05">
                                        <joint name="left_finger0" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="left_finger0_tip" pos="0 0 -0.035">
                                          <joint name="left_finger0_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="left_finger1" pos="-0.004 -0.004 -0.05">
                                        <joint name="left_finger1" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="left_finger1_tip" pos="0 0 -0.035">
                                          <joint name="left_finger1_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="left_finger2" pos="0.004 -0.004 -0.05">
                                        <joint name="left_finger2" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="left_finger2_tip" pos="0 0 -0.035">
                                          <joint name="left_finger2_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="left_finger3" pos="0.012 -0.004 -0.05">
                                        <joint name="left_finger3" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 0 0 -0.035" size="0.007" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        <body name="left_finger3_tip" pos="0 0 -0.035">
                                          <joint name="left_finger3_tip" type="hinge" axis="1 0 0" range="0 1.5" damping="0.2" />
                                          <geom type="capsule" fromto="0 0 0 0 0 -0.03" size="0.006" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                        </body>
                                      </body>
                                      <body name="left_thumb" pos="0.04 0.015 -0.01">
                                        <joint name="left_thumb" type="hinge" axis="0 1 0" range="0 1.4" damping="0.2" />
                                        <geom type="capsule" fromto="0 0 0 -0.035 0 -0.02" size="0.008" rgba="1 1 1 1" contype="0" conaffinity="0" />
                                      </body>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
    <light name="top" pos="0 0 3" dir="0 0 -1" diffuse="0.8 0.8 0.8" specular="0.2 0.2 0.2" />
    <geom name="floor" type="plane" size="5 5 0.1" material="grid" pos="0 0 0" contype="2" conaffinity="5" />
    <camera name="overview" pos="1.5 -0.6 1.1" mode="targetbody" target="torso_link" fovy="55" />
    <camera name="top" pos="0.33 -0.12 1.05" fovy="45" />
    <body name="table" pos="0.36 0 0.40">
      <geom name="table_top" type="box" size="0.22 0.4 0.02" material="wood" contype="2" conaffinity="5" />
      <geom name="table_leg" type="box" size="0.02 0.02 0.20" pos="0 0 -0.20" material="wood" contype="2" conaffinity="5" />
    </body>
    <body name="red_cube" pos="0.31 -0.05 0.445">
      <freejoint name="red_cube_free" />
      <geom name="red_cube_geom" type="box" size="0.022 0.022 0.022" material="mat_red_cube" mass="0.1" friction="1 0.05 0.001" contype="4" conaffinity="7" />
    </body>
    <body name="blue_cube" pos="0.31 -0.10 0.445">
      <freejoint name="blue_cube_free" />
      <geom name="blue_cube_geom" type="box" size="0.022 0.022 0.022" material="mat_blue_cube" mass="0.1" friction="1 0.05 0.001" contype="4" conaffinity="7" />
    </body>
    <body name="green_cube" pos="0.31 -0.15 0.445">
      <freejoint name="green_cube_free" />
      <geom name="green_cube_geom" type="box" size="0.022 0.022 0.022" material="mat_green_cube" mass="0.1" friction="1 0.05 0.001" contype="4" conaffinity="7" />
    </body>
    <body name="yellow_cube" pos="0.31 -0.20 0.445">
      <freejoint name="yellow_cube_free" />
      <geom name="yellow_cube_geom" type="box" size="0.022 0.022 0.022" material="mat_yellow_cube" mass="0.1" friction="1 0.05 0.001" contype="4" conaffinity="7" />
    </body>
    <body name="box" pos="0.375 -0.085 0.43">
      <geom name="box_floor" type="box" size="0.05 0.05 0.005" material="mat_box" contype="4" conaffinity="7" />
      <geom type="box" size="0.005 0.05 0.03" pos="0.05 0 0.03" material="mat_box" contype="4" conaffinity="7" />
      <geom type="box" size="0.005 0.05 0.03" pos="-0.05 0 0.03" material="mat_box" contype="4" conaffinity="7" />
      <geom type="box" size="0.05 0.005 0.03" pos="0 0.05 0.03" material="mat_box" contype="4" conaffinity="7" />
      <geom type="box" size="0.05 0.005 0.03" pos="0 -0.05 0.03" material="mat_box" contype="4" conaffinity="7" />
    </body>
  </worldbody>
  <equality>
    <weld name="weld_red_cube" body1="right_hand_link" body2="red_cube" active="false" solref="0.02 1" />
    <weld name="weld_blue_cube" body1="right_hand_link" body2="blue_cube" active="false" solref="0.02 1" />
    <weld name="weld_green_cube" body1="right_hand_link" body2="green_cube" active="false" solref="0.02 1" />
    <weld name="weld_yellow_cube" body1="right_hand_link" body2="yellow_cube" active="false" solref="0.02 1" />
  </equality>
  <contact>
    <exclude body1="right_hand_link" body2="red_cube" />
    <exclude body1="left_hand_link" body2="red_cube" />
    <exclude body1="right_hand_link" body2="blue_cube" />
    <exclude body1="left_hand_link" body2="blue_cube" />
    <exclude body1="right_hand_link" body2="green_cube" />
    <exclude body1="left_hand_link" body2="green_cube" />
    <exclude body1="right_hand_link" body2="yellow_cube" />
    <exclude body1="left_hand_link" body2="yellow_cube" />
    <exclude body1="right_hand_link" body2="box" />
    <exclude body1="left_hand_link" body2="box" />
  </contact>
  <actuator>
    <position name="act_base2torso_yaw_joint" joint="base2torso_yaw_joint" kp="1200.0" dampratio="1.2" forcerange="-600.0 600.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_torso_yaw2pitch_joint" joint="torso_yaw2pitch_joint" kp="1200.0" dampratio="1.2" forcerange="-600.0 600.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_torso_pitch2roll_joint" joint="torso_pitch2roll_joint" kp="1200.0" dampratio="1.2" forcerange="-600.0 600.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_head_base2neck_yaw_joint" joint="head_base2neck_yaw_joint" kp="500.0" dampratio="1.2" forcerange="-60.0 60.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_neck_yaw2pitch_joint" joint="neck_yaw2pitch_joint" kp="500.0" dampratio="1.2" forcerange="-60.0 60.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_neck_pitch2head_depth_cam_mount_joint" joint="neck_pitch2head_depth_cam_mount_joint" kp="500.0" dampratio="1.2" forcerange="-60.0 60.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_head_depth_cam_mount2right_ear_joint" joint="head_depth_cam_mount2right_ear_joint" kp="500.0" dampratio="1.2" forcerange="-60.0 60.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_head_depth_cam_mount2left_ear_joint" joint="head_depth_cam_mount2left_ear_joint" kp="500.0" dampratio="1.2" forcerange="-60.0 60.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_right_shoul_base2shoul_joint" joint="right_shoul_base2shoul_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-2.5132 2.5132" />
    <position name="act_right_shoul2shoul_rot_joint" joint="right_shoul2shoul_rot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-1.57075 0.50264" />
    <position name="act_right_arm2armrot_joint" joint="right_arm2armrot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_right_armrot2elbow_joint" joint="right_armrot2elbow_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-2.19905 0" />
    <position name="act_right_forearm2forearmrot_joint" joint="right_forearm2forearmrot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_right_forearmrot2forearm_pitch_joint" joint="right_forearmrot2forearm_pitch_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_right_forearm_pitch2forearm_roll_joint" joint="right_forearm_pitch2forearm_roll_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_right_finger0" joint="right_finger0" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger0_tip" joint="right_finger0_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger1" joint="right_finger1" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger1_tip" joint="right_finger1_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger2" joint="right_finger2" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger2_tip" joint="right_finger2_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger3" joint="right_finger3" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_finger3_tip" joint="right_finger3_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_right_thumb" joint="right_thumb" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.4" />
    <position name="act_left_shoul_base2shoul_joint" joint="left_shoul_base2shoul_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-2.5132 2.5132" />
    <position name="act_left_shoul2shoul_rot_joint" joint="left_shoul2shoul_rot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-0.50264 1.57075" />
    <position name="act_left_arm2armrot_joint" joint="left_arm2armrot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_left_armrot2elbow_joint" joint="left_armrot2elbow_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-2.19905 0" />
    <position name="act_left_forearm2forearmrot_joint" joint="left_forearm2forearmrot_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-1.57075 1.57075" />
    <position name="act_left_forearmrot2forearm_pitch_joint" joint="left_forearmrot2forearm_pitch_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_left_forearm_pitch2forearm_roll_joint" joint="left_forearm_pitch2forearm_roll_joint" kp="700.0" dampratio="1.2" forcerange="-250.0 250.0" ctrlrange="-0.785375 0.785375" />
    <position name="act_left_finger0" joint="left_finger0" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger0_tip" joint="left_finger0_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger1" joint="left_finger1" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger1_tip" joint="left_finger1_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger2" joint="left_finger2" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger2_tip" joint="left_finger2_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger3" joint="left_finger3" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_finger3_tip" joint="left_finger3_tip" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.5" />
    <position name="act_left_thumb" joint="left_thumb" kp="120.0" dampratio="1.2" forcerange="-20.0 20.0" ctrlrange="0 1.4" />
  </actuator>
</mujoco>