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	<mesh name="robot1_link3_vis_3" file="robosuite:robots/panda/obj_meshes/link3_vis/link3_vis_3.obj" />


        
	<material name="robot1_Part__Feature001_001_003_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
	<material name="robot1_Part__Feature002_001_003_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
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	<mesh name="robot1_link4_vis_0" file="robosuite:robots/panda/obj_meshes/link4_vis/link4_vis_0.obj" />
	<mesh name="robot1_link4_vis_1" file="robosuite:robots/panda/obj_meshes/link4_vis/link4_vis_1.obj" />
	<mesh name="robot1_link4_vis_2" file="robosuite:robots/panda/obj_meshes/link4_vis/link4_vis_2.obj" />
	<mesh name="robot1_link4_vis_3" file="robosuite:robots/panda/obj_meshes/link4_vis/link4_vis_3.obj" />

        
	<material name="robot1_Part__Feature_002_004_003" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
	<material name="robot1_Shell001_001_001_003" specular="0.5" shininess="0.45" rgba="0.250000 0.250000 0.250000 1.000000" />
	<material name="robot1_Shell_001_001_003" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
	<mesh name="robot1_link5_vis_0" file="robosuite:robots/panda/obj_meshes/link5_vis/link5_vis_0.obj" />
	<mesh name="robot1_link5_vis_1" file="robosuite:robots/panda/obj_meshes/link5_vis/link5_vis_1.obj" />
	<mesh name="robot1_link5_vis_2" file="robosuite:robots/panda/obj_meshes/link5_vis/link5_vis_2.obj" />

        
	<material name="robot1_Face064_002_001_002_001" specular="0.5" shininess="0.45" rgba="1.000000 0.000000 0.000000 1.000000" />
	<material name="robot1_Face065_002_001_002_001" specular="0.5" shininess="0.45" rgba="0.000000 1.000000 0.000000 1.000000" />
	<material name="robot1_Face374_002_001_002_001" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
	<material name="robot1_Face539_002_001_002_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
	<material name="robot1_Part__Feature001_009_001_002_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
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	<material name="robot1_Shell006_003_002_001" specular="0.5" shininess="0.45" rgba="0.901961 0.921569 0.929412 1.000000" />
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	<material name="robot1_Union001_001_001_002_001" specular="0.5" shininess="0.45" rgba="0.039216 0.541176 0.780392 1.000000" />
	<material name="robot1_Union_001_001_002_001" specular="0.5" shininess="0.45" rgba="0.039216 0.541176 0.780392 1.000000" />	
	<mesh name="robot1_link6_vis_0" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_0.obj" />
	<mesh name="robot1_link6_vis_1" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_1.obj" />
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	<mesh name="robot1_link6_vis_5" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_5.obj" />
	<mesh name="robot1_link6_vis_6" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_6.obj" />
	<mesh name="robot1_link6_vis_7" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_7.obj" />
	<mesh name="robot1_link6_vis_8" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_8.obj" />
	<mesh name="robot1_link6_vis_9" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_9.obj" />
	<mesh name="robot1_link6_vis_10" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_10.obj" />
	<mesh name="robot1_link6_vis_11" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_11.obj" />
	<mesh name="robot1_link6_vis_12" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_12.obj" />
	<mesh name="robot1_link6_vis_13" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_13.obj" />
	<mesh name="robot1_link6_vis_14" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_14.obj" />
	<mesh name="robot1_link6_vis_15" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_15.obj" />
	<mesh name="robot1_link6_vis_16" file="robosuite:robots/panda/obj_meshes/link6_vis/link6_vis_16.obj" />

        
	<material name="robot1_Part__Mirroring001_004_002" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
	<material name="robot1_Part__Mirroring002_004_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
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	<material name="robot1_Part__Mirroring004_004_002" specular="0.5" shininess="0.45" rgba="1.000000 1.000000 1.000000 1.000000" />
	<material name="robot1_Part__Mirroring005_004_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
	<material name="robot1_Part__Mirroring006_004_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
	<material name="robot1_Part__Mirroring007_004_001" specular="0.5" shininess="0.45" rgba="0.250980 0.250980 0.250980 1.000000" />
	<material name="robot1_Part__Mirroring_004_001" specular="0.5" shininess="0.45" rgba="0.898039 0.917647 0.929412 1.000000" />	

	<mesh name="robot1_link7_vis_0" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_0.obj" />
	<mesh name="robot1_link7_vis_1" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_1.obj" />
	<mesh name="robot1_link7_vis_2" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_2.obj" />
	<mesh name="robot1_link7_vis_3" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_3.obj" />
	<mesh name="robot1_link7_vis_4" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_4.obj" />
	<mesh name="robot1_link7_vis_5" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_5.obj" />
	<mesh name="robot1_link7_vis_6" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_6.obj" />
	<mesh name="robot1_link7_vis_7" file="robosuite:robots/panda/obj_meshes/link7_vis/link7_vis_7.obj" />

    <mesh name="mount1_pedestal" file="robosuite:mounts/meshes/rethink_mount/pedestal.stl" />
    <texture file="robosuite:textures/red-wood.png" type="cube" name="hole_red-wood" />
    <material name="hole_plate_mat" texture="hole_red-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
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  </visual>

  <actuator>
  <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot0_joint1" name="robot0_torq_j1" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot0_joint2" name="robot0_torq_j2" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot0_joint3" name="robot0_torq_j3" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot0_joint4" name="robot0_torq_j4" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot0_joint5" name="robot0_torq_j5" />
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="robot0_joint6" name="robot0_torq_j6" />
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="robot0_joint7" name="robot0_torq_j7" />
    <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot1_joint1" name="robot1_torq_j1" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot1_joint2" name="robot1_torq_j2" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot1_joint3" name="robot1_torq_j3" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot1_joint4" name="robot1_torq_j4" />
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="robot1_joint5" name="robot1_torq_j5" />
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="robot1_joint6" name="robot1_torq_j6" />
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="robot1_joint7" name="robot1_torq_j7" />
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  <worldbody>
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    <geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat" />
    <geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat" />
    <geom pos="1.25 3.0 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat" />
    <geom pos="1.25 -3.0 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat" />
    <geom pos="-2.0 0.0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat" />
    <geom pos="3.0 0.0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat" />
    <light pos="1.0 1.0 1.5" dir="-0.2 -0.2 -1" specular="0.3 0.3 0.3" directional="true" castshadow="false" />
    
    <camera mode="fixed" name="frontview" pos="1.6 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
    
    <camera mode="fixed" name="birdview" pos="-0.2 0.0 3.0" quat="0.7071 0 0 0.7071" />
    
    <camera mode="fixed" name="agentview" pos="1.0666432116509934 1.4903257668114777e-08 2.0563394967349096" quat="0.6530979871749878 0.27104058861732483 0.27104055881500244 0.6530978679656982" />
    
    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
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            <camera mode="fixed" name="robot0_robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653" />
            <inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
            
            <body name="robot0_link0" pos="0 0 0">
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		<geom mesh="robot0_link0_vis_3" material="robot0_Shell_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g3_vis" />
		<geom mesh="robot0_link0_vis_4" material="robot0_Shell002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g4_vis" />
		<geom mesh="robot0_link0_vis_5" material="robot0_Shell001_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g5_vis" />
		<geom mesh="robot0_link0_vis_6" material="robot0_Face636_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g6_vis" />
		<geom mesh="robot0_link0_vis_7" material="robot0_Part__Feature018_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g7_vis" />
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		<geom mesh="robot0_link0_vis_11" material="robot0_Part__Feature017_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g11_vis" />

                <geom type="mesh" group="0" mesh="robot0_link0" name="robot0_link0_collision" rgba="0 0.5 0 1" />
                <body name="robot0_link1" pos="0 0 0.333">
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                    <joint name="robot0_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="5.0" />
		    <geom material="robot0_Part__Feature_001" mesh="robot0_link1_vis" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g12_vis" />

                    <geom type="mesh" group="0" mesh="robot0_link1" name="robot0_link1_collision" rgba="0 0.5 0 1" />
                    <body name="robot0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                        <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
                        <joint name="robot0_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1" frictionloss="0.1" armature="2.5" />
			<geom material="robot0_Part__Feature024" mesh="robot0_link2_vis" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g13_vis" />

                        <geom type="mesh" group="0" mesh="robot0_link2" name="robot0_link2_collision" rgba="0 0.5 0 1" />
                        <body name="robot0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                            <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
                            <joint name="robot0_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="1.6666666666666667" />
			    <geom mesh="robot0_link3_vis_0" material="robot0_Part__Feature003_004_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g14_vis" />
			    <geom mesh="robot0_link3_vis_1" material="robot0_Part__Feature002_007_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g15_vis" />
			    <geom mesh="robot0_link3_vis_2" material="robot0_Part__Feature001_010_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g16_vis" />
			    <geom mesh="robot0_link3_vis_3" material="robot0_Part__Feature_001_001_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g17_vis" />
                            <geom type="mesh" group="0" mesh="robot0_link3" name="robot0_link3_collision" rgba="0 0.5 0 1" />
                            <body name="robot0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                                <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
                                <joint name="robot0_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1" frictionloss="0.1" armature="1.25" />
				<geom mesh="robot0_link4_vis_0" material="robot0_Part__Feature001_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g18_vis" />
				<geom mesh="robot0_link4_vis_1" material="robot0_Part__Feature003_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g19_vis" />
				<geom mesh="robot0_link4_vis_2" material="robot0_Part__Feature002_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g20_vis" />
				<geom mesh="robot0_link4_vis_3" material="robot0_Part__Feature_002_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g21_vis" />

                                <geom type="mesh" group="0" mesh="robot0_link4" name="robot0_link4_collision" rgba="0 0.5 0 1" />
                                <body name="robot0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                                    <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
                                    <joint name="robot0_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="1.0" />
				    <geom mesh="robot0_link5_vis_0" material="robot0_Shell001_001_001_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g22_vis" />
				    <geom mesh="robot0_link5_vis_1" material="robot0_Shell_001_001_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g23_vis" />
				    <geom mesh="robot0_link5_vis_2" material="robot0_Part__Feature_002_004_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g24_vis" />

                                    <geom type="mesh" group="0" mesh="robot0_link5" name="robot0_link5_collision" rgba="0 0.5 0 1" />
                                    <body name="robot0_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
                                        <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
                                        <joint name="robot0_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01" frictionloss="0.1" armature="0.8333333333333334" />
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					<geom mesh="robot0_link6_vis_1" material="robot0_Shell011_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g26_vis" />
					<geom mesh="robot0_link6_vis_2" material="robot0_Shell007_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g27_vis" />
					<geom mesh="robot0_link6_vis_3" material="robot0_Shell005_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g28_vis" />
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					<geom mesh="robot0_link6_vis_6" material="robot0_Shell002_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g31_vis" />
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					<geom mesh="robot0_link6_vis_8" material="robot0_Union_001_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g33_vis" />
					<geom mesh="robot0_link6_vis_9" material="robot0_Face539_002_001_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot0_g34_vis" />
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                                        <geom type="mesh" group="0" mesh="robot0_link6" name="robot0_link6_collision" rgba="0 0.5 0 1" />
                                        <body name="robot0_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
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                                            <joint name="robot0_joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01" frictionloss="0.1" armature="0.7142857142857143" />
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                                            <body name="robot0_right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
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                                                <camera mode="fixed" name="robot0_eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75" />
                                                
                                            <body name="gripper0_null_gripper" pos="0 0 0">
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            <body name="gripper0_eef" pos="0 0 0" quat="0.707105 0 0 -0.707105">
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                <site name="gripper0_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
                <site name="gripper0_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
                <site name="gripper0_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
                
                <site name="gripper0_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
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        </body>
    <body pos="0 0 0.13" name="peg_main"><geom rgba="0.5 0 0 1" margin="0.001" density="1000" friction="1 0.01 0.001" solref="0.01 0.5" solimp="0.9 0.95 0.001" type="cylinder" size="0.02323220255890987 0.13" pos="0 0 0" group="0" name="peg_g0" /><geom conaffinity="0" contype="0" mass="1e-8" material="peg_greenwood_mat" type="cylinder" size="0.02323220255890987 0.13" pos="0 0 0" group="1" name="peg_g0_vis" /><site type="sphere" group="0" pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" name="peg_default_site" /></body></body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        <body name="mount0_base" pos="0.0 0.0 0.01">
            <body name="mount0_controller_box" pos="0 0 0">
                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount0_controller_box_col" rgba="0.5 0.5 0 1" />
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            <body name="mount0_pedestal_feet" pos="0 0 0">
                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount0_pedestal_feet_col" rgba="0.5 0.5 0 1" />
            </body>
            <body name="mount0_torso" pos="0 0 0">
                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
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            <body name="mount0_pedestal" pos="0 0 0">
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            <camera mode="fixed" name="robot1_robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653" />
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            <body name="robot1_link0" pos="0 0 0">
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		<geom mesh="robot1_link0_vis_3" material="robot1_Shell_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g3_vis" />
		<geom mesh="robot1_link0_vis_4" material="robot1_Shell002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g4_vis" />
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		<geom mesh="robot1_link0_vis_8" material="robot1_Part__Feature019_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g8_vis" />
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		<geom mesh="robot1_link0_vis_10" material="robot1_Part__Feature022_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g10_vis" />
		<geom mesh="robot1_link0_vis_11" material="robot1_Part__Feature017_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g11_vis" />

                <geom type="mesh" group="0" mesh="robot1_link0" name="robot1_link0_collision" rgba="0 0.5 0 1" />
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                    <joint name="robot1_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="5.0" />
		    <geom material="robot1_Part__Feature_001" mesh="robot1_link1_vis" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g12_vis" />

                    <geom type="mesh" group="0" mesh="robot1_link1" name="robot1_link1_collision" rgba="0 0.5 0 1" />
                    <body name="robot1_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                        <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
                        <joint name="robot1_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1" frictionloss="0.1" armature="2.5" />
			<geom material="robot1_Part__Feature024" mesh="robot1_link2_vis" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g13_vis" />

                        <geom type="mesh" group="0" mesh="robot1_link2" name="robot1_link2_collision" rgba="0 0.5 0 1" />
                        <body name="robot1_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                            <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
                            <joint name="robot1_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="1.6666666666666667" />
			    <geom mesh="robot1_link3_vis_0" material="robot1_Part__Feature003_004_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g14_vis" />
			    <geom mesh="robot1_link3_vis_1" material="robot1_Part__Feature002_007_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g15_vis" />
			    <geom mesh="robot1_link3_vis_2" material="robot1_Part__Feature001_010_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g16_vis" />
			    <geom mesh="robot1_link3_vis_3" material="robot1_Part__Feature_001_001_001_002" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g17_vis" />
                            <geom type="mesh" group="0" mesh="robot1_link3" name="robot1_link3_collision" rgba="0 0.5 0 1" />
                            <body name="robot1_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                                <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
                                <joint name="robot1_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1" frictionloss="0.1" armature="1.25" />
				<geom mesh="robot1_link4_vis_0" material="robot1_Part__Feature001_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g18_vis" />
				<geom mesh="robot1_link4_vis_1" material="robot1_Part__Feature003_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g19_vis" />
				<geom mesh="robot1_link4_vis_2" material="robot1_Part__Feature002_001_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g20_vis" />
				<geom mesh="robot1_link4_vis_3" material="robot1_Part__Feature_002_003_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g21_vis" />

                                <geom type="mesh" group="0" mesh="robot1_link4" name="robot1_link4_collision" rgba="0 0.5 0 1" />
                                <body name="robot1_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                                    <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
                                    <joint name="robot1_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1" frictionloss="0.1" armature="1.0" />
				    <geom mesh="robot1_link5_vis_0" material="robot1_Shell001_001_001_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g22_vis" />
				    <geom mesh="robot1_link5_vis_1" material="robot1_Shell_001_001_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g23_vis" />
				    <geom mesh="robot1_link5_vis_2" material="robot1_Part__Feature_002_004_003" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g24_vis" />

                                    <geom type="mesh" group="0" mesh="robot1_link5" name="robot1_link5_collision" rgba="0 0.5 0 1" />
                                    <body name="robot1_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
                                        <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
                                        <joint name="robot1_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01" frictionloss="0.1" armature="0.8333333333333334" />
					<geom mesh="robot1_link6_vis_0" material="robot1_Shell006_003_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g25_vis" />
					<geom mesh="robot1_link6_vis_1" material="robot1_Shell011_002_002_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g26_vis" />
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                                        <geom type="mesh" group="0" mesh="robot1_link6" name="robot1_link6_collision" rgba="0 0.5 0 1" />
                                        <body name="robot1_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
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                                            <joint name="robot1_joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01" frictionloss="0.1" armature="0.7142857142857143" />
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					    <geom mesh="robot1_link7_vis_5" material="robot1_Part__Mirroring003_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g47_vis" />
					    <geom mesh="robot1_link7_vis_6" material="robot1_Part__Mirroring002_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g48_vis" />
					    <geom mesh="robot1_link7_vis_7" material="robot1_Part__Mirroring_004_001" type="mesh" contype="0" conaffinity="0" group="1" name="robot1_g49_vis" />
                                            
                                            <body name="robot1_right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
                                                
                                                <camera mode="fixed" name="robot1_eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75" />
                                                
                                            <body name="gripper1_null_gripper" pos="0 0 0">
            <site name="gripper1_ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
            <inertial pos="0 0 0" mass="3e-1" diaginertia="1e-2 1e-2 1e-2" />
            
            <body name="gripper1_eef" pos="0 0 0" quat="0.707105 0 0 -0.707105">
                <site name="gripper1_grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1" />
                <site name="gripper1_ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1" />
                <site name="gripper1_ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1" />
                <site name="gripper1_ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1" />
                
                <site name="gripper1_grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1" />
            </body>
        </body>
    <body name="hole_main" quat="0 0 0.707 0.707" pos="0.11 0 0.17">
        <geom pos="0 0 0" size="0.06 0.17 0.01" type="box" group="0" name="hole_g0" rgba="0.5 0 0 1" />
        <geom pos="0.22 0 0" size="0.06 0.17 0.01" type="box" group="0" name="hole_g1" rgba="0.5 0 0 1" />
        <geom pos="0.11 0.11 0" size="0.05 0.06 0.01" type="box" group="0" name="hole_g2" rgba="0.5 0 0 1" />
        <geom pos="0.11 -0.11 0" size="0.05 0.06 0.01" type="box" group="0" name="hole_g3" rgba="0.5 0 0 1" />
      <geom pos="0 0 0" size="0.06 0.17 0.01" type="box" group="1" material="hole_plate_mat" name="hole_g0_visual" conaffinity="0" contype="0" mass="1e-8" />
        <geom pos="0.22 0 0" size="0.06 0.17 0.01" type="box" group="1" material="hole_plate_mat" name="hole_g1_visual" conaffinity="0" contype="0" mass="1e-8" />
        <geom pos="0.11 0.11 0" size="0.05 0.06 0.01" type="box" group="1" material="hole_plate_mat" name="hole_g2_visual" conaffinity="0" contype="0" mass="1e-8" />
        <geom pos="0.11 -0.11 0" size="0.05 0.06 0.01" type="box" group="1" material="hole_plate_mat" name="hole_g3_visual" conaffinity="0" contype="0" mass="1e-8" />
      <site pos="0 0 0" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere" group="0" name="hole_default_site" /></body>
      </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        <body name="mount1_base" pos="0.0 0.0 0.01">
            <body name="mount1_controller_box" pos="0 0 0">
                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="mount1_controller_box_col" rgba="0.5 0.5 0 1" />
            </body>
            <body name="mount1_pedestal_feet" pos="0 0 0">
                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="mount1_pedestal_feet_col" rgba="0.5 0.5 0 1" />
            </body>
            <body name="mount1_torso" pos="0 0 0">
                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="mount1_torso_vis" rgba="0.2 0.2 0.2 1" />
            </body>
            <body name="mount1_pedestal" pos="0 0 0">
                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
                <geom conaffinity="0" contype="0" group="1" mesh="mount1_pedestal" type="mesh" name="mount1_pedestal_vis" rgba="0.2 0.2 0.2 1" />
                <geom pos="-0.02 0 -0.29" rgba="0.5 0.5 0 1" size="0.18 0.31" type="cylinder" name="mount1_pedestal_col" />
            </body>
        </body>
    </body>
    </worldbody>

  <equality>
  </equality>
<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
    <force name="gripper1_force_ee" site="gripper1_ft_frame" />
        <torque name="gripper1_torque_ee" site="gripper1_ft_frame" />
    </sensor><tendon /><contact /><keyframe><key name="robosuite-two-arm-peg-in-hole-reset-seed0" qpos="0.019574759682114785 0.24116740483339122 0.03735115980299935 -2.637539435589022 0.01900176835051179 2.9385655094238388 0.7833337863615771 0.008211970038767447 0.19923041227257962 0.029085470139259502 -2.602773123488554 0.002433500329856568 2.9504699182447016 0.7920716499449336" /></keyframe></mujoco>
