From d9cd35ec3664199b1b070fa4b83009c13ae80a2e Mon Sep 17 00:00:00 2001
From: Shubham Baid <goose@Shubhams-MacBook-Air.local>
Date: Wed, 25 Feb 2026 22:00:26 +0530
Subject: [PATCH 1/2] feat(sensors): add hardware-aligned cameras to v1
 bimanual model

- Added 'camera-wrist-right' to 'openarm_right_link7'
- Added 'camera-wrist-left' to 'openarm_left_link7'
- Added 'camera-head' to 'openarm_body_link0'
- Added 'camera-ceiling' to 'worldbody'
- Note: Used baseline pos/euler approximations. Exact physical offsets will be updated once OpenArm 2.0 measurements are provided.
---
 v1/openarm_bimanual.xml | 522 +++++++++++-----------------------------
 1 file changed, 147 insertions(+), 375 deletions(-)

diff --git a/v1/openarm_bimanual.xml b/v1/openarm_bimanual.xml
index 523f5b1..34ab11f 100644
--- a/v1/openarm_bimanual.xml
+++ b/v1/openarm_bimanual.xml
@@ -1,7 +1,6 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="openarm">
   <default>
-    <!-- <geom friction="0.0001" margin="0.0005" /> -->
     <joint stiffness="0" ref="0.0" />
     <default class="robot">
       <default class="motor_DM8009">
@@ -18,13 +17,10 @@
       </default>
       <default class="motor_finger">
         <joint limited="true" type="slide" damping="2" stiffness="0.5" />
-        <position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.044"
-          kp="100" />
+        <position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.044" kp="100" />
       </default>
       <default class="collision">
-        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3"
-          solref="0.005 1" friction="1 0.01 0.01" />
-        <!-- <material name="collision_material" rgba="1 0 0 0.5" specular="0.2" shininess="0.1"/> -->
+        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
         <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
       </default>
       <default class="visual">
@@ -32,13 +28,10 @@
       </default>
     </default>
   </default>
-
   <compiler angle="radian" meshdir="meshes" />
-
   <asset>
     <material name="default_material" rgba="0.7 0.7 0.7 1" />
     <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
-
     <mesh name="body_collision" file="collision/body/body_link0.stl" scale="0.001 0.001 0.001" />
     <mesh name="link0_collision" file="collision/arm/link0.stl" scale="0.001 0.001 0.001" />
     <mesh name="link0_collision_left" file="collision/arm/link0.stl" scale="0.001 -0.001 0.001" />
@@ -57,16 +50,13 @@
     <mesh name="link7_collision_left" file="collision/arm/link7.stl" scale="0.001 -0.001 0.001" />
     <mesh name="hand_collision" file="collision/gripper/hand.stl" scale="0.001 0.001 0.001" />
     <mesh name="finger_collision" file="collision/gripper/finger.stl" scale="0.001 0.001 0.001" />
-    <mesh name="finger_collision_left" file="collision/gripper/finger.stl"
-      scale="0.001 -0.001 0.001" />
-
+    <mesh name="finger_collision_left" file="collision/gripper/finger.stl" scale="0.001 -0.001 0.001" />
     <mesh name="body_link0_0.obj" file="visual/body/body_link0_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_1.obj" file="visual/body/body_link0_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_2.obj" file="visual/body/body_link0_2.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_3.obj" file="visual/body/body_link0_3.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_4.obj" file="visual/body/body_link0_4.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_5.obj" file="visual/body/body_link0_5.obj" scale="0.001 0.001 0.001" />
-
     <mesh name="link0_0.obj" file="visual/arm/link0_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="link0_1.obj" file="visual/arm/link0_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="link1_0.obj" file="visual/arm/link1_0.obj" scale="0.001 0.001 0.001" />
@@ -93,211 +83,101 @@
     <mesh name="link7_1.obj" file="visual/arm/link7_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="link7_0_left.obj" file="visual/arm/link7_0.obj" scale="0.001 -0.001 0.001" />
     <mesh name="link7_1_left.obj" file="visual/arm/link7_1.obj" scale="0.001 -0.001 0.001" />
-
     <mesh name="hand_0.obj" file="visual/gripper/hand_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="hand_1.obj" file="visual/gripper/hand_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_0.obj" file="visual/gripper/finger_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_0_flip.obj" file="visual/gripper/finger_0.obj" scale="0.001 -0.001 0.001" />
     <mesh name="finger_1.obj" file="visual/gripper/finger_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_1_flip.obj" file="visual/gripper/finger_1.obj" scale="0.001 -0.001 0.001" />
-
-    <material name="matte_black" rgba="0.24705882 0.24705882 0.24705882 1.0"
-      reflectance="0.05098039000000001" shininess="0.5" />
-    <material name="metal_silver" rgba="0.79607843 0.79607843 0.79607843 1.0" reflectance="1.0"
-      shininess="1.0" />
+    <material name="matte_black" rgba="0.24705882 0.24705882 0.24705882 1.0" reflectance="0.05098039000000001" shininess="0.5" />
+    <material name="metal_silver" rgba="0.79607843 0.79607843 0.79607843 1.0" reflectance="1.0" shininess="1.0" />
   </asset>
-
   <worldbody>
-
     <body name="openarm_body_link0" pos="0 0 0" quat="1.0 0.0 0.0 0.0">
-      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="13.89"
-        diaginertia="1.653 1.653 0.051" />
-      <geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh"
-        mesh="body_link0_3.obj" class="collision" />
-      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="matte_black" type="mesh" mesh="body_link0_0.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="metal_silver" type="mesh" mesh="body_link0_1.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="matte_black" type="mesh" mesh="body_link0_2.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="matte_black" type="mesh" mesh="body_link0_3.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="metal_silver" type="mesh" mesh="body_link0_4.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-        material="matte_black" type="mesh" mesh="body_link0_5.obj" class="visual" />
-      <body name="openarm_left_link0" pos="0.0 0.031 0.698"
-        quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
-        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"
-          quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
-        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          type="mesh" mesh="link0_collision_left" class="collision" />
-        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
-        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="13.89" diaginertia="1.653 1.653 0.051" />
+      <geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="body_link0_3.obj" class="collision" />
+      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_0.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_1.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_2.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_3.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_4.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_5.obj" class="visual" />
+      <body name="openarm_left_link0" pos="0.0 0.031 0.698" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision_left" class="collision" />
+        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
         <body name="openarm_left_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
-          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="motor_DM8009"
-            range="-3.490659 1.3962629999999998" axis="0 0 1" />
-          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"
-            quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298"
-            diaginertia="0.001567 0.001273 0.001016" />
-          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            type="mesh" mesh="link1_collision_left" class="collision" />
-          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
-          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
-          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
-          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06"
-            quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
-            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="motor_DM8009"
-              range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
-            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"
-              quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571"
-              diaginertia="0.000359 0.000376 0.000232" />
-            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225"
-              quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
-            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
-              material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
-            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
-              material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
-            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
-              material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
+          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-3.490659 1.3962629999999998" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision_left" class="collision" />
+          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
+            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
+            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
             <body name="openarm_left_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
-              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="motor_DM4340"
-                range="-1.570796 1.570796" axis="0 0 1" />
-              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961"
-                quat="1.0 0.0 0.0 0.0" mass="1.073863338202347"
-                diaginertia="0.004372 0.004319 0.000661" />
-              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
-              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj"
-                class="visual" />
-              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj"
-                class="visual" />
-              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj"
-                class="visual" />
+              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
+              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
               <body name="openarm_left_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
-                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="motor_DM4340"
-                  range="0.0 2.443461" axis="0 1 0" />
-                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"
-                  quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373"
-                  diaginertia="0.001577 0.001346 0.001104" />
-                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
-                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj"
-                  class="visual" />
-                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj"
-                  class="visual" />
-                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj"
-                  class="visual" />
+                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
                 <body name="openarm_left_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
-                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="motor_DM4310"
-                    range="-1.570796 1.570796" axis="0 0 1" />
-                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"
-                    quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502"
-                    diaginertia="0.000423 0.000445 0.000324" />
-                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
-                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj"
-                    class="visual" />
-                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj"
-                    class="visual" />
-                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj"
-                    class="visual" />
+                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
+                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
                   <body name="openarm_left_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
-                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="motor_DM4310"
-                      range="-0.785398 0.785398" axis="1 0 0" />
-                    <inertial
-                      pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"
-                      quat="1.0 0.0 0.0 0.0" mass="0.475202773187987"
-                      diaginertia="0.000143 0.000157 0.000159" />
-                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left"
-                      class="collision" />
-                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
-                      mesh="link6_0_left.obj" class="visual" />
-                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                      mesh="link6_1_left.obj" class="visual" />
+                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left" class="collision" />
+                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0_left.obj" class="visual" />
+                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1_left.obj" class="visual" />
                     <body name="openarm_left_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
-                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310"
-                        range="-1.570796 1.570796" axis="0 -1 0" />
-                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448"
-                        quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578"
-                        diaginertia="0.000639 0.000497 0.000342" />
-                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left"
-                        class="collision" />
-                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                        mesh="link7_0_left.obj" class="visual" />
-                      <geom name="openarm_left_link7_visual_1" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
-                        mesh="link7_1_left.obj" class="visual" />
+                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 -1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left" class="collision" />
+                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0_left.obj" class="visual" />
+                      <geom name="openarm_left_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1_left.obj" class="visual" />
                       <body name="openarm_left_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
                         <body name="openarm_left_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
-                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15"
-                            diaginertia="0.0001 0.00025 0.00017" />
-                          <geom name="openarm_left_hand_collision" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
-                            class="collision" />
-                          <geom name="openarm_left_hand_visual_0" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                            mesh="hand_0.obj" class="visual" />
-                          <geom name="openarm_left_hand_visual_1" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                            mesh="hand_1.obj" class="visual" />
-                          <body name="openarm_left_hand_tcp" pos="0 -0.0 0.08"
-                            quat="1.0 0.0 0.0 0.0" />
-                          <body name="openarm_left_right_finger" pos="0 0.00 0.015"
-                            quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_left_finger_joint1" type="slide" ref="0.0"
-                              class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
-                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
-                              mass="0.03602545343277134"
-                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_left_right_finger_collision"
-                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
-                              mesh="finger_collision_left" class="collision" />
-                            <geom name="openarm_left_right_finger_visual_0" pos="0.0 0.05 -0.673001"
-                              quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh"
-                              mesh="finger_0_flip.obj" class="visual" />
-                            <geom name="openarm_left_right_finger_visual_1" pos="0.0 0.05 -0.673001"
-                              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
-                              mesh="finger_1_flip.obj" class="visual" />
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_left_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
+                          <geom name="openarm_left_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_left_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_left_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_left_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_left_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
+                            <geom name="openarm_left_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
                           </body>
-                          <body name="openarm_left_left_finger" pos="0 0.012 0.015"
-                            quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_left_finger_joint2" type="slide" ref="0.0"
-                              class="motor_finger" range="0.0 0.044" axis="0 1 0" />
-                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
-                              mass="0.03602545343277134"
-                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_left_left_finger_collision"
-                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
-                              mesh="finger_collision" class="collision" />
-                            <geom name="openarm_left_left_finger_visual_0" pos="0.0 -0.05 -0.673001"
-                              quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh"
-                              mesh="finger_0.obj" class="visual" />
-                            <geom name="openarm_left_left_finger_visual_1" pos="0.0 -0.05 -0.673001"
-                              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
-                              mesh="finger_1.obj" class="visual" />
+                          <body name="openarm_left_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
+                            <geom name="openarm_left_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
+                            <geom name="openarm_left_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
                           </body>
                         </body>
                       </body>
+                      <camera name="camera-wrist-left" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
                     </body>
                   </body>
                 </body>
@@ -306,181 +186,82 @@
           </body>
         </body>
       </body>
-      <body name="openarm_right_link0" pos="0.0 -0.031 0.698"
-        quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
-        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"
-          quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
-        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          type="mesh" mesh="link0_collision" class="collision" />
-        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
-        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
-          material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+      <body name="openarm_right_link0" pos="0.0 -0.031 0.698" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision" class="collision" />
+        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
         <body name="openarm_right_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
-          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="motor_DM8009"
-            range="-1.396263 3.490659" axis="0 0 1" />
-          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"
-            quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298"
-            diaginertia="0.001567 0.001273 0.001016" />
-          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            type="mesh" mesh="link1_collision" class="collision" />
-          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
-          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
-          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
-            material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
-          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06"
-            quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
-            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="motor_DM8009"
-              range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
-            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"
-              quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571"
-              diaginertia="0.000359 0.000376 0.000232" />
-            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225"
-              quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
-            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225"
-              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj"
-              class="visual" />
-            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225"
-              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj"
-              class="visual" />
-            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225"
-              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj"
-              class="visual" />
+          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-1.396263 3.490659" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision" class="collision" />
+          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
+            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
+            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
             <body name="openarm_right_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
-              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="motor_DM4340"
-                range="-1.570796 1.570796" axis="0 0 1" />
-              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961"
-                quat="1.0 0.0 0.0 0.0" mass="1.073863338202347"
-                diaginertia="0.004372 0.004319 0.000661" />
-              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
-              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj"
-                class="visual" />
-              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj"
-                class="visual" />
-              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875"
-                quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj"
-                class="visual" />
+              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
+              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
               <body name="openarm_right_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
-                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="motor_DM4340"
-                  range="0.0 2.443461" axis="0 1 0" />
-                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"
-                  quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373"
-                  diaginertia="0.001577 0.001346 0.001104" />
-                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
-                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj"
-                  class="visual" />
-                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj"
-                  class="visual" />
-                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425"
-                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj"
-                  class="visual" />
+                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
                 <body name="openarm_right_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
-                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="motor_DM4310"
-                    range="-1.570796 1.570796" axis="0 0 1" />
-                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"
-                    quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502"
-                    diaginertia="0.000423 0.000445 0.000324" />
-                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
-                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj"
-                    class="visual" />
-                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj"
-                    class="visual" />
-                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438"
-                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj"
-                    class="visual" />
+                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
+                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
                   <body name="openarm_right_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
-                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="motor_DM4310"
-                      range="-0.785398 0.785398" axis="1 0 0" />
-                    <inertial
-                      pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"
-                      quat="1.0 0.0 0.0 0.0" mass="0.475202773187987"
-                      diaginertia="0.000143 0.000157 0.000159" />
-                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
-                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0.obj"
-                      class="visual" />
-                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585"
-                      quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1.obj"
-                      class="visual" />
+                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
+                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0.obj" class="visual" />
+                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1.obj" class="visual" />
                     <body name="openarm_right_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
-                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310"
-                        range="-1.570796 1.570796" axis="0 1 0" />
-                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448"
-                        quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578"
-                        diaginertia="0.000639 0.000497 0.000342" />
-                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
-                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                        mesh="link7_0.obj" class="visual" />
-                      <geom name="openarm_right_link7_visual_1" pos="0.0 -0.0 -0.5585"
-                        quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1.obj"
-                        class="visual" />
+                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
+                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0.obj" class="visual" />
+                      <geom name="openarm_right_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1.obj" class="visual" />
                       <body name="openarm_right_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
                         <body name="openarm_right_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
-                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15"
-                            diaginertia="0.0001 0.00025 0.00017" />
-                          <geom name="openarm_right_hand_collision" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
-                            class="collision" />
-                          <geom name="openarm_right_hand_visual_0" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                            mesh="hand_0.obj" class="visual" />
-                          <geom name="openarm_right_hand_visual_1" pos="0.0 0.005 -0.6585"
-                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
-                            mesh="hand_1.obj" class="visual" />
-                          <body name="openarm_right_hand_tcp" pos="0 -0.0 0.08"
-                            quat="1.0 0.0 0.0 0.0" />
-                          <body name="openarm_right_right_finger" pos="0 0.00 0.015"
-                            quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_right_finger_joint1" type="slide" ref="0.0"
-                              class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
-                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
-                              mass="0.03602545343277134"
-                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_right_right_finger_collision"
-                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
-                              mesh="finger_collision_left" class="collision" />
-                            <geom name="openarm_right_right_finger_visual_0"
-                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
-                              material="default_material" type="mesh" mesh="finger_0_flip.obj"
-                              class="visual" />
-                            <geom name="openarm_right_right_finger_visual_1"
-                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black"
-                              type="mesh" mesh="finger_1_flip.obj" class="visual" />
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_right_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
+                          <geom name="openarm_right_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_right_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_right_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_right_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_right_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
+                            <geom name="openarm_right_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
                           </body>
-                          <body name="openarm_right_left_finger" pos="0 0.012 0.015"
-                            quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_right_finger_joint2" type="slide" ref="0.0"
-                              class="motor_finger" range="0.0 0.044" axis="0 1 0" />
-                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
-                              mass="0.03602545343277134"
-                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_right_left_finger_collision"
-                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
-                              mesh="finger_collision" class="collision" />
-                            <geom name="openarm_right_left_finger_visual_0"
-                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
-                              material="default_material" type="mesh" mesh="finger_0.obj"
-                              class="visual" />
-                            <geom name="openarm_right_left_finger_visual_1"
-                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
-                              material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
+                          <body name="openarm_right_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
+                            <geom name="openarm_right_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
+                            <geom name="openarm_right_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
                           </body>
                         </body>
                       </body>
+                      <camera name="camera-wrist-right" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
                     </body>
                   </body>
                 </body>
@@ -489,16 +270,13 @@
           </body>
         </body>
       </body>
+      <camera name="camera-head" pos="0.1 0 0.8" euler="0 0.5 0" fovy="75" />
     </body>
     <site name="world_site" pos="0 0 0" quat="1 0 0 0" />
-    <camera name="front_camera" mode="track" fovy="90.0"
-      quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476"
-      pos="0.0 2.0 0.5" />
-    <camera name="side_camera" mode="track" fovy="90.0"
-      quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
-
+    <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
+    <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+    <camera name="camera-ceiling" pos="0.5 0 1.5" euler="0 1.57 1.57" fovy="90" />
   </worldbody>
-
   <tendon>
     <fixed name="split_right">
       <joint joint="openarm_right_finger_joint1" coef="0.5" />
@@ -510,13 +288,9 @@
     </fixed>
   </tendon>
   <equality>
-    <joint joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2"
-      solimp="0.95 0.99 0.001" solref="0.005 1" />
-    <joint joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2"
-      solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
   </equality>
-
-
   <actuator>
     <motor name="left_joint1_ctrl" joint="openarm_left_joint1" class="motor_DM8009" />
     <motor name="left_joint2_ctrl" joint="openarm_left_joint2" class="motor_DM8009" />
@@ -537,7 +311,6 @@
     <position name="right_finger1_ctrl" joint="openarm_right_finger_joint1" class="motor_finger" />
     <position name="right_finger2_ctrl" joint="openarm_right_finger_joint2" class="motor_finger" />
   </actuator>
-
   <contact>
     <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
@@ -568,7 +341,6 @@
     <exclude body1="openarm_right_hand" body2="openarm_right_right_finger" />
     <exclude body1="openarm_right_hand" body2="openarm_right_left_finger" />
   </contact>
-
   <sensor>
     <framepos name="world_site_pos" objtype="site" objname="world_site" />
     <framequat name="world_site_quat" objtype="site" objname="world_site" />

From 953969182960a8bd397bfdc2d9b83508c97713e4 Mon Sep 17 00:00:00 2001
From: Shubham Baid <goose@Shubhams-MacBook-Air.local>
Date: Thu, 26 Feb 2026 14:50:22 +0530
Subject: [PATCH 2/2] refactor: move camera additions to new v2 directory to
 preserve v1 assets

---
 v1/openarm_bimanual.xml | 522 +++++++++++++++++++++++++++++-----------
 v2/openarm_bimanual.xml | 351 +++++++++++++++++++++++++++
 2 files changed, 726 insertions(+), 147 deletions(-)
 create mode 100644 v2/openarm_bimanual.xml

diff --git a/v1/openarm_bimanual.xml b/v1/openarm_bimanual.xml
index 34ab11f..523f5b1 100644
--- a/v1/openarm_bimanual.xml
+++ b/v1/openarm_bimanual.xml
@@ -1,6 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <mujoco model="openarm">
   <default>
+    <!-- <geom friction="0.0001" margin="0.0005" /> -->
     <joint stiffness="0" ref="0.0" />
     <default class="robot">
       <default class="motor_DM8009">
@@ -17,10 +18,13 @@
       </default>
       <default class="motor_finger">
         <joint limited="true" type="slide" damping="2" stiffness="0.5" />
-        <position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.044" kp="100" />
+        <position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.044"
+          kp="100" />
       </default>
       <default class="collision">
-        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3"
+          solref="0.005 1" friction="1 0.01 0.01" />
+        <!-- <material name="collision_material" rgba="1 0 0 0.5" specular="0.2" shininess="0.1"/> -->
         <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
       </default>
       <default class="visual">
@@ -28,10 +32,13 @@
       </default>
     </default>
   </default>
+
   <compiler angle="radian" meshdir="meshes" />
+
   <asset>
     <material name="default_material" rgba="0.7 0.7 0.7 1" />
     <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+
     <mesh name="body_collision" file="collision/body/body_link0.stl" scale="0.001 0.001 0.001" />
     <mesh name="link0_collision" file="collision/arm/link0.stl" scale="0.001 0.001 0.001" />
     <mesh name="link0_collision_left" file="collision/arm/link0.stl" scale="0.001 -0.001 0.001" />
@@ -50,13 +57,16 @@
     <mesh name="link7_collision_left" file="collision/arm/link7.stl" scale="0.001 -0.001 0.001" />
     <mesh name="hand_collision" file="collision/gripper/hand.stl" scale="0.001 0.001 0.001" />
     <mesh name="finger_collision" file="collision/gripper/finger.stl" scale="0.001 0.001 0.001" />
-    <mesh name="finger_collision_left" file="collision/gripper/finger.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="finger_collision_left" file="collision/gripper/finger.stl"
+      scale="0.001 -0.001 0.001" />
+
     <mesh name="body_link0_0.obj" file="visual/body/body_link0_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_1.obj" file="visual/body/body_link0_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_2.obj" file="visual/body/body_link0_2.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_3.obj" file="visual/body/body_link0_3.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_4.obj" file="visual/body/body_link0_4.obj" scale="0.001 0.001 0.001" />
     <mesh name="body_link0_5.obj" file="visual/body/body_link0_5.obj" scale="0.001 0.001 0.001" />
+
     <mesh name="link0_0.obj" file="visual/arm/link0_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="link0_1.obj" file="visual/arm/link0_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="link1_0.obj" file="visual/arm/link1_0.obj" scale="0.001 0.001 0.001" />
@@ -83,101 +93,211 @@
     <mesh name="link7_1.obj" file="visual/arm/link7_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="link7_0_left.obj" file="visual/arm/link7_0.obj" scale="0.001 -0.001 0.001" />
     <mesh name="link7_1_left.obj" file="visual/arm/link7_1.obj" scale="0.001 -0.001 0.001" />
+
     <mesh name="hand_0.obj" file="visual/gripper/hand_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="hand_1.obj" file="visual/gripper/hand_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_0.obj" file="visual/gripper/finger_0.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_0_flip.obj" file="visual/gripper/finger_0.obj" scale="0.001 -0.001 0.001" />
     <mesh name="finger_1.obj" file="visual/gripper/finger_1.obj" scale="0.001 0.001 0.001" />
     <mesh name="finger_1_flip.obj" file="visual/gripper/finger_1.obj" scale="0.001 -0.001 0.001" />
-    <material name="matte_black" rgba="0.24705882 0.24705882 0.24705882 1.0" reflectance="0.05098039000000001" shininess="0.5" />
-    <material name="metal_silver" rgba="0.79607843 0.79607843 0.79607843 1.0" reflectance="1.0" shininess="1.0" />
+
+    <material name="matte_black" rgba="0.24705882 0.24705882 0.24705882 1.0"
+      reflectance="0.05098039000000001" shininess="0.5" />
+    <material name="metal_silver" rgba="0.79607843 0.79607843 0.79607843 1.0" reflectance="1.0"
+      shininess="1.0" />
   </asset>
+
   <worldbody>
+
     <body name="openarm_body_link0" pos="0 0 0" quat="1.0 0.0 0.0 0.0">
-      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="13.89" diaginertia="1.653 1.653 0.051" />
-      <geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="body_link0_3.obj" class="collision" />
-      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_0.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_1.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_2.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_3.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_4.obj" class="visual" />
-      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_5.obj" class="visual" />
-      <body name="openarm_left_link0" pos="0.0 0.031 0.698" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
-        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
-        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision_left" class="collision" />
-        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
-        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="13.89"
+        diaginertia="1.653 1.653 0.051" />
+      <geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh"
+        mesh="body_link0_3.obj" class="collision" />
+      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="matte_black" type="mesh" mesh="body_link0_0.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="metal_silver" type="mesh" mesh="body_link0_1.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="matte_black" type="mesh" mesh="body_link0_2.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="matte_black" type="mesh" mesh="body_link0_3.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="metal_silver" type="mesh" mesh="body_link0_4.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+        material="matte_black" type="mesh" mesh="body_link0_5.obj" class="visual" />
+      <body name="openarm_left_link0" pos="0.0 0.031 0.698"
+        quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"
+          quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          type="mesh" mesh="link0_collision_left" class="collision" />
+        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
         <body name="openarm_left_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
-          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-3.490659 1.3962629999999998" axis="0 0 1" />
-          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
-          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision_left" class="collision" />
-          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
-          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
-          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
-          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
-            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
-            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
-            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
-            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
-            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
-            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
+          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="motor_DM8009"
+            range="-3.490659 1.3962629999999998" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"
+            quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298"
+            diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            type="mesh" mesh="link1_collision_left" class="collision" />
+          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06"
+            quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
+            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="motor_DM8009"
+              range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"
+              quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571"
+              diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225"
+              quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
+            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
+              material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
+              material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0"
+              material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
             <body name="openarm_left_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
-              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
-              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
-              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
-              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
-              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
-              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
+              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="motor_DM4340"
+                range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961"
+                quat="1.0 0.0 0.0 0.0" mass="1.073863338202347"
+                diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
+              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj"
+                class="visual" />
+              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj"
+                class="visual" />
+              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj"
+                class="visual" />
               <body name="openarm_left_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
-                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
-                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
-                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
-                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
-                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
-                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="motor_DM4340"
+                  range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"
+                  quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373"
+                  diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj"
+                  class="visual" />
+                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj"
+                  class="visual" />
+                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj"
+                  class="visual" />
                 <body name="openarm_left_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
-                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
-                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
-                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
-                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
-                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
-                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="motor_DM4310"
+                    range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"
+                    quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502"
+                    diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
+                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj"
+                    class="visual" />
+                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj"
+                    class="visual" />
+                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj"
+                    class="visual" />
                   <body name="openarm_left_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
-                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
-                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
-                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left" class="collision" />
-                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0_left.obj" class="visual" />
-                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1_left.obj" class="visual" />
+                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="motor_DM4310"
+                      range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial
+                      pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"
+                      quat="1.0 0.0 0.0 0.0" mass="0.475202773187987"
+                      diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left"
+                      class="collision" />
+                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
+                      mesh="link6_0_left.obj" class="visual" />
+                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                      mesh="link6_1_left.obj" class="visual" />
                     <body name="openarm_left_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
-                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 -1 0" />
-                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
-                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left" class="collision" />
-                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0_left.obj" class="visual" />
-                      <geom name="openarm_left_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1_left.obj" class="visual" />
+                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310"
+                        range="-1.570796 1.570796" axis="0 -1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448"
+                        quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578"
+                        diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left"
+                        class="collision" />
+                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                        mesh="link7_0_left.obj" class="visual" />
+                      <geom name="openarm_left_link7_visual_1" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
+                        mesh="link7_1_left.obj" class="visual" />
                       <body name="openarm_left_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
                         <body name="openarm_left_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
-                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
-                          <geom name="openarm_left_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
-                          <geom name="openarm_left_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
-                          <geom name="openarm_left_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
-                          <body name="openarm_left_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
-                          <body name="openarm_left_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_left_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
-                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_left_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
-                            <geom name="openarm_left_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
-                            <geom name="openarm_left_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15"
+                            diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_left_hand_collision" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
+                            class="collision" />
+                          <geom name="openarm_left_hand_visual_0" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                            mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_left_hand_visual_1" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                            mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_left_hand_tcp" pos="0 -0.0 0.08"
+                            quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_left_right_finger" pos="0 0.00 0.015"
+                            quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint1" type="slide" ref="0.0"
+                              class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
+                              mass="0.03602545343277134"
+                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_right_finger_collision"
+                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
+                              mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_left_right_finger_visual_0" pos="0.0 0.05 -0.673001"
+                              quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh"
+                              mesh="finger_0_flip.obj" class="visual" />
+                            <geom name="openarm_left_right_finger_visual_1" pos="0.0 0.05 -0.673001"
+                              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
+                              mesh="finger_1_flip.obj" class="visual" />
                           </body>
-                          <body name="openarm_left_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_left_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
-                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_left_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
-                            <geom name="openarm_left_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
-                            <geom name="openarm_left_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
+                          <body name="openarm_left_left_finger" pos="0 0.012 0.015"
+                            quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint2" type="slide" ref="0.0"
+                              class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
+                              mass="0.03602545343277134"
+                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_left_finger_collision"
+                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
+                              mesh="finger_collision" class="collision" />
+                            <geom name="openarm_left_left_finger_visual_0" pos="0.0 -0.05 -0.673001"
+                              quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh"
+                              mesh="finger_0.obj" class="visual" />
+                            <geom name="openarm_left_left_finger_visual_1" pos="0.0 -0.05 -0.673001"
+                              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh"
+                              mesh="finger_1.obj" class="visual" />
                           </body>
                         </body>
                       </body>
-                      <camera name="camera-wrist-left" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
                     </body>
                   </body>
                 </body>
@@ -186,82 +306,181 @@
           </body>
         </body>
       </body>
-      <body name="openarm_right_link0" pos="0.0 -0.031 0.698" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
-        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
-        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision" class="collision" />
-        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
-        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+      <body name="openarm_right_link0" pos="0.0 -0.031 0.698"
+        quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199"
+          quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          type="mesh" mesh="link0_collision" class="collision" />
+        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0"
+          material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
         <body name="openarm_right_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
-          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-1.396263 3.490659" axis="0 0 1" />
-          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
-          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision" class="collision" />
-          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
-          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
-          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
-          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
-            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
-            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
-            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
-            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
-            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
-            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
+          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="motor_DM8009"
+            range="-1.396263 3.490659" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254"
+            quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298"
+            diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            type="mesh" mesh="link1_collision" class="collision" />
+          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0"
+            material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06"
+            quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
+            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="motor_DM8009"
+              range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363"
+              quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571"
+              diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225"
+              quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
+            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225"
+              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj"
+              class="visual" />
+            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225"
+              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj"
+              class="visual" />
+            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225"
+              quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj"
+              class="visual" />
             <body name="openarm_right_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
-              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
-              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
-              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
-              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
-              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
-              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
+              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="motor_DM4340"
+                range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961"
+                quat="1.0 0.0 0.0 0.0" mass="1.073863338202347"
+                diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
+              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj"
+                class="visual" />
+              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj"
+                class="visual" />
+              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875"
+                quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj"
+                class="visual" />
               <body name="openarm_right_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
-                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
-                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
-                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
-                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
-                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
-                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="motor_DM4340"
+                  range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209"
+                  quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373"
+                  diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj"
+                  class="visual" />
+                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj"
+                  class="visual" />
+                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425"
+                  quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj"
+                  class="visual" />
                 <body name="openarm_right_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
-                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
-                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
-                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
-                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
-                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
-                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="motor_DM4310"
+                    range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934"
+                    quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502"
+                    diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
+                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj"
+                    class="visual" />
+                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj"
+                    class="visual" />
+                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438"
+                    quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj"
+                    class="visual" />
                   <body name="openarm_right_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
-                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
-                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
-                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
-                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0.obj" class="visual" />
-                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1.obj" class="visual" />
+                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="motor_DM4310"
+                      range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial
+                      pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05"
+                      quat="1.0 0.0 0.0 0.0" mass="0.475202773187987"
+                      diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
+                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0.obj"
+                      class="visual" />
+                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585"
+                      quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1.obj"
+                      class="visual" />
                     <body name="openarm_right_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
-                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 1 0" />
-                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
-                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
-                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0.obj" class="visual" />
-                      <geom name="openarm_right_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1.obj" class="visual" />
+                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310"
+                        range="-1.570796 1.570796" axis="0 1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448"
+                        quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578"
+                        diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
+                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                        mesh="link7_0.obj" class="visual" />
+                      <geom name="openarm_right_link7_visual_1" pos="0.0 -0.0 -0.5585"
+                        quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1.obj"
+                        class="visual" />
                       <body name="openarm_right_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
                         <body name="openarm_right_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
-                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
-                          <geom name="openarm_right_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
-                          <geom name="openarm_right_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
-                          <geom name="openarm_right_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
-                          <body name="openarm_right_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
-                          <body name="openarm_right_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_right_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
-                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_right_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
-                            <geom name="openarm_right_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
-                            <geom name="openarm_right_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15"
+                            diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_right_hand_collision" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision"
+                            class="collision" />
+                          <geom name="openarm_right_hand_visual_0" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                            mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_right_hand_visual_1" pos="0.0 0.005 -0.6585"
+                            quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh"
+                            mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_right_hand_tcp" pos="0 -0.0 0.08"
+                            quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_right_right_finger" pos="0 0.00 0.015"
+                            quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint1" type="slide" ref="0.0"
+                              class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
+                              mass="0.03602545343277134"
+                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_right_finger_collision"
+                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
+                              mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_right_right_finger_visual_0"
+                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
+                              material="default_material" type="mesh" mesh="finger_0_flip.obj"
+                              class="visual" />
+                            <geom name="openarm_right_right_finger_visual_1"
+                              pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black"
+                              type="mesh" mesh="finger_1_flip.obj" class="visual" />
                           </body>
-                          <body name="openarm_right_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
-                            <joint name="openarm_right_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
-                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
-                            <geom name="openarm_right_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
-                            <geom name="openarm_right_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
-                            <geom name="openarm_right_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
+                          <body name="openarm_right_left_finger" pos="0 0.012 0.015"
+                            quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint2" type="slide" ref="0.0"
+                              class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0"
+                              mass="0.03602545343277134"
+                              diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_left_finger_collision"
+                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh"
+                              mesh="finger_collision" class="collision" />
+                            <geom name="openarm_right_left_finger_visual_0"
+                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
+                              material="default_material" type="mesh" mesh="finger_0.obj"
+                              class="visual" />
+                            <geom name="openarm_right_left_finger_visual_1"
+                              pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0"
+                              material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
                           </body>
                         </body>
                       </body>
-                      <camera name="camera-wrist-right" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
                     </body>
                   </body>
                 </body>
@@ -270,13 +489,16 @@
           </body>
         </body>
       </body>
-      <camera name="camera-head" pos="0.1 0 0.8" euler="0 0.5 0" fovy="75" />
     </body>
     <site name="world_site" pos="0 0 0" quat="1 0 0 0" />
-    <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
-    <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
-    <camera name="camera-ceiling" pos="0.5 0 1.5" euler="0 1.57 1.57" fovy="90" />
+    <camera name="front_camera" mode="track" fovy="90.0"
+      quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476"
+      pos="0.0 2.0 0.5" />
+    <camera name="side_camera" mode="track" fovy="90.0"
+      quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+
   </worldbody>
+
   <tendon>
     <fixed name="split_right">
       <joint joint="openarm_right_finger_joint1" coef="0.5" />
@@ -288,9 +510,13 @@
     </fixed>
   </tendon>
   <equality>
-    <joint joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
-    <joint joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2"
+      solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2"
+      solimp="0.95 0.99 0.001" solref="0.005 1" />
   </equality>
+
+
   <actuator>
     <motor name="left_joint1_ctrl" joint="openarm_left_joint1" class="motor_DM8009" />
     <motor name="left_joint2_ctrl" joint="openarm_left_joint2" class="motor_DM8009" />
@@ -311,6 +537,7 @@
     <position name="right_finger1_ctrl" joint="openarm_right_finger_joint1" class="motor_finger" />
     <position name="right_finger2_ctrl" joint="openarm_right_finger_joint2" class="motor_finger" />
   </actuator>
+
   <contact>
     <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
     <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
@@ -341,6 +568,7 @@
     <exclude body1="openarm_right_hand" body2="openarm_right_right_finger" />
     <exclude body1="openarm_right_hand" body2="openarm_right_left_finger" />
   </contact>
+
   <sensor>
     <framepos name="world_site_pos" objtype="site" objname="world_site" />
     <framequat name="world_site_quat" objtype="site" objname="world_site" />
diff --git a/v2/openarm_bimanual.xml b/v2/openarm_bimanual.xml
new file mode 100644
index 0000000..34ab11f
--- /dev/null
+++ b/v2/openarm_bimanual.xml
@@ -0,0 +1,351 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="openarm">
+  <default>
+    <joint stiffness="0" ref="0.0" />
+    <default class="robot">
+      <default class="motor_DM8009">
+        <joint frictionloss="0.1" damping="0.4" limited="true" type="hinge" />
+        <motor forcelimited="true" forcerange="-40 40" />
+      </default>
+      <default class="motor_DM4340">
+        <joint frictionloss="0.1" damping="0.4" limited="true" type="hinge" />
+        <motor forcelimited="true" forcerange="-27 27" />
+      </default>
+      <default class="motor_DM4310">
+        <joint frictionloss="0.1" damping="0.4" limited="true" type="hinge" />
+        <motor forcelimited="true" forcerange="-7 7" />
+      </default>
+      <default class="motor_finger">
+        <joint limited="true" type="slide" damping="2" stiffness="0.5" />
+        <position forcelimited="true" forcerange="-333 333" ctrllimited="true" ctrlrange="0 0.044" kp="100" />
+      </default>
+      <default class="collision">
+        <geom material="collision_material" condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
+      </default>
+      <default class="visual">
+        <geom material="visualgeom" contype="0" conaffinity="0" group="2" />
+      </default>
+    </default>
+  </default>
+  <compiler angle="radian" meshdir="meshes" />
+  <asset>
+    <material name="default_material" rgba="0.7 0.7 0.7 1" />
+    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
+    <mesh name="body_collision" file="collision/body/body_link0.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link0_collision" file="collision/arm/link0.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link0_collision_left" file="collision/arm/link0.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link1_collision" file="collision/arm/link1.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link1_collision_left" file="collision/arm/link1.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link2_collision" file="collision/arm/link2.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link2_collision_left" file="collision/arm/link2.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link3_collision" file="collision/arm/link3.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link3_collision_left" file="collision/arm/link3.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link4_collision" file="collision/arm/link4.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link5_collision" file="collision/arm/link5.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link5_collision_left" file="collision/arm/link5.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link6_collision" file="collision/arm/link6.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link6_collision_left" file="collision/arm/link6.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="link7_collision" file="collision/arm/link7.stl" scale="0.001 0.001 0.001" />
+    <mesh name="link7_collision_left" file="collision/arm/link7.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="hand_collision" file="collision/gripper/hand.stl" scale="0.001 0.001 0.001" />
+    <mesh name="finger_collision" file="collision/gripper/finger.stl" scale="0.001 0.001 0.001" />
+    <mesh name="finger_collision_left" file="collision/gripper/finger.stl" scale="0.001 -0.001 0.001" />
+    <mesh name="body_link0_0.obj" file="visual/body/body_link0_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_1.obj" file="visual/body/body_link0_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_2.obj" file="visual/body/body_link0_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_3.obj" file="visual/body/body_link0_3.obj" scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_4.obj" file="visual/body/body_link0_4.obj" scale="0.001 0.001 0.001" />
+    <mesh name="body_link0_5.obj" file="visual/body/body_link0_5.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link0_0.obj" file="visual/arm/link0_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link0_1.obj" file="visual/arm/link0_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link1_0.obj" file="visual/arm/link1_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link1_1.obj" file="visual/arm/link1_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link1_2.obj" file="visual/arm/link1_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link1_3.obj" file="visual/arm/link1_3.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link2_0.obj" file="visual/arm/link2_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link2_1.obj" file="visual/arm/link2_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link2_2.obj" file="visual/arm/link2_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link3_0.obj" file="visual/arm/link3_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link3_1.obj" file="visual/arm/link3_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link3_2.obj" file="visual/arm/link3_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link4_0.obj" file="visual/arm/link4_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link4_1.obj" file="visual/arm/link4_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link4_2.obj" file="visual/arm/link4_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link5_0.obj" file="visual/arm/link5_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link5_1.obj" file="visual/arm/link5_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link5_2.obj" file="visual/arm/link5_2.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link6_0.obj" file="visual/arm/link6_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link6_1.obj" file="visual/arm/link6_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link6_0_left.obj" file="visual/arm/link6_0.obj" scale="0.001 -0.001 0.001" />
+    <mesh name="link6_1_left.obj" file="visual/arm/link6_1.obj" scale="0.001 -0.001 0.001" />
+    <mesh name="link7_0.obj" file="visual/arm/link7_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link7_1.obj" file="visual/arm/link7_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="link7_0_left.obj" file="visual/arm/link7_0.obj" scale="0.001 -0.001 0.001" />
+    <mesh name="link7_1_left.obj" file="visual/arm/link7_1.obj" scale="0.001 -0.001 0.001" />
+    <mesh name="hand_0.obj" file="visual/gripper/hand_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="hand_1.obj" file="visual/gripper/hand_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="finger_0.obj" file="visual/gripper/finger_0.obj" scale="0.001 0.001 0.001" />
+    <mesh name="finger_0_flip.obj" file="visual/gripper/finger_0.obj" scale="0.001 -0.001 0.001" />
+    <mesh name="finger_1.obj" file="visual/gripper/finger_1.obj" scale="0.001 0.001 0.001" />
+    <mesh name="finger_1_flip.obj" file="visual/gripper/finger_1.obj" scale="0.001 -0.001 0.001" />
+    <material name="matte_black" rgba="0.24705882 0.24705882 0.24705882 1.0" reflectance="0.05098039000000001" shininess="0.5" />
+    <material name="metal_silver" rgba="0.79607843 0.79607843 0.79607843 1.0" reflectance="1.0" shininess="1.0" />
+  </asset>
+  <worldbody>
+    <body name="openarm_body_link0" pos="0 0 0" quat="1.0 0.0 0.0 0.0">
+      <inertial pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" mass="13.89" diaginertia="1.653 1.653 0.051" />
+      <geom name="openarm_body_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="body_link0_3.obj" class="collision" />
+      <geom name="openarm_body_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_0.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_1.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_2" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_2.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_3" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_3.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_4" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="body_link0_4.obj" class="visual" />
+      <geom name="openarm_body_link0_visual_5" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="body_link0_5.obj" class="visual" />
+      <body name="openarm_left_link0" pos="0.0 0.031 0.698" quat="0.7071054825112363 -0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_left_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision_left" class="collision" />
+        <geom name="openarm_left_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_left_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+        <body name="openarm_left_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
+          <joint name="openarm_left_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-3.490659 1.3962629999999998" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_left_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision_left" class="collision" />
+          <geom name="openarm_left_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_left_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_left_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 -0.7071067811848163 0.0 0.0">
+            <joint name="openarm_left_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-3.3161253267948965 0.17453267320510335" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_left_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision_left" class="collision" />
+            <geom name="openarm_left_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_left_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
+            <body name="openarm_left_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
+              <joint name="openarm_left_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_left_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision_left" class="collision" />
+              <geom name="openarm_left_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_left_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
+              <body name="openarm_left_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
+                <joint name="openarm_left_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_left_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_left_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_left_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <body name="openarm_left_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
+                  <joint name="openarm_left_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_left_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision_left" class="collision" />
+                  <geom name="openarm_left_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_left_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <body name="openarm_left_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
+                    <joint name="openarm_left_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_left_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision_left" class="collision" />
+                    <geom name="openarm_left_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0_left.obj" class="visual" />
+                    <geom name="openarm_left_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1_left.obj" class="visual" />
+                    <body name="openarm_left_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
+                      <joint name="openarm_left_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 -1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_left_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision_left" class="collision" />
+                      <geom name="openarm_left_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0_left.obj" class="visual" />
+                      <geom name="openarm_left_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1_left.obj" class="visual" />
+                      <body name="openarm_left_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
+                        <body name="openarm_left_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_left_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
+                          <geom name="openarm_left_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_left_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_left_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_left_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_left_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
+                            <geom name="openarm_left_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
+                          </body>
+                          <body name="openarm_left_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_left_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_left_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
+                            <geom name="openarm_left_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
+                            <geom name="openarm_left_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
+                          </body>
+                        </body>
+                      </body>
+                      <camera name="camera-wrist-left" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="openarm_right_link0" pos="0.0 -0.031 0.698" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
+        <inertial pos="-0.0009483362816297526 0.0001580207020448382 0.03076860287587199" quat="1.0 0.0 0.0 0.0" mass="1.1432284943239561" diaginertia="0.001128 0.000962 0.00147" />
+        <geom name="openarm_right_link0_collision" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link0_collision" class="collision" />
+        <geom name="openarm_right_link0_visual_0" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link0_0.obj" class="visual" />
+        <geom name="openarm_right_link0_visual_1" pos="0.0 0.0 0.0" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link0_1.obj" class="visual" />
+        <body name="openarm_right_link1" pos="0.0 0.0 0.0625" quat="1.0 0.0 0.0 0.0">
+          <joint name="openarm_right_joint1" type="hinge" ref="0.0" class="motor_DM8009" range="-1.396263 3.490659" axis="0 0 1" />
+          <inertial pos="0.0011467657911800769 3.319987657026362e-05 0.05395284380736254" quat="1.0 0.0 0.0 0.0" mass="1.1416684646202298" diaginertia="0.001567 0.001273 0.001016" />
+          <geom name="openarm_right_link1_collision" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1_collision" class="collision" />
+          <geom name="openarm_right_link1_visual_0" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_0.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_2" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_2.obj" class="visual" />
+          <geom name="openarm_right_link1_visual_3" pos="-0.0 0.0 -0.0625" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link1_3.obj" class="visual" />
+          <body name="openarm_right_link2" pos="-0.0301 0.0 0.06" quat="0.7071067811882787 0.7071067811848163 0.0 0.0">
+            <joint name="openarm_right_joint2" type="hinge" ref="0.0" class="motor_DM8009" range="-0.17453267320510335 3.3161253267948965" axis="-1 0 0" />
+            <inertial pos="0.00839629182351943 -2.0145102027597523e-08 0.03256649300522363" quat="1.0 0.0 0.0 0.0" mass="0.2775092746011571" diaginertia="0.000359 0.000376 0.000232" />
+            <geom name="openarm_right_link2_collision" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2_collision" class="collision" />
+            <geom name="openarm_right_link2_visual_0" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_0.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_1" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_1.obj" class="visual" />
+            <geom name="openarm_right_link2_visual_2" pos="0.0301 0.0 -0.1225" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link2_2.obj" class="visual" />
+            <body name="openarm_right_link3" pos="0.0301 0.0 0.06625" quat="1.0 0.0 0.0 0.0">
+              <joint name="openarm_right_joint3" type="hinge" ref="0.0" class="motor_DM4340" range="-1.570796 1.570796" axis="0 0 1" />
+              <inertial pos="-0.002104752099628911 0.0005549085042607548 0.08847470545721961" quat="1.0 0.0 0.0 0.0" mass="1.073863338202347" diaginertia="0.004372 0.004319 0.000661" />
+              <geom name="openarm_right_link3_collision" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3_collision" class="collision" />
+              <geom name="openarm_right_link3_visual_0" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_0.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_1" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link3_1.obj" class="visual" />
+              <geom name="openarm_right_link3_visual_2" pos="-0.0 -0.0 -0.18875" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link3_2.obj" class="visual" />
+              <body name="openarm_right_link4" pos="-0.0 0.0315 0.15375" quat="1.0 0.0 0.0 0.0">
+                <joint name="openarm_right_joint4" type="hinge" ref="0.0" class="motor_DM4340" range="0.0 2.443461" axis="0 1 0" />
+                <inertial pos="-0.0029006831074562967 -0.03030575826634669 0.06339637422196209" quat="1.0 0.0 0.0 0.0" mass="0.6348534566833373" diaginertia="0.001577 0.001346 0.001104" />
+                <geom name="openarm_right_link4_collision" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4_collision" class="collision" />
+                <geom name="openarm_right_link4_visual_0" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_0.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_1" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link4_1.obj" class="visual" />
+                <geom name="openarm_right_link4_visual_2" pos="0.0 -0.0315 -0.3425" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link4_2.obj" class="visual" />
+                <body name="openarm_right_link5" pos="0.0 -0.0315 0.0955" quat="1.0 0.0 0.0 0.0">
+                  <joint name="openarm_right_joint5" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 0 1" />
+                  <inertial pos="-0.003049665024221911 0.0008866902457326625 0.043079803024980934" quat="1.0 0.0 0.0 0.0" mass="0.6156588026168502" diaginertia="0.000423 0.000445 0.000324" />
+                  <geom name="openarm_right_link5_collision" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5_collision" class="collision" />
+                  <geom name="openarm_right_link5_visual_0" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_0.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_1" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link5_1.obj" class="visual" />
+                  <geom name="openarm_right_link5_visual_2" pos="-0.0 -0.0 -0.438" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link5_2.obj" class="visual" />
+                  <body name="openarm_right_link6" pos="0.0375 0.0 0.1205" quat="1.0 0.0 0.0 0.0">
+                    <joint name="openarm_right_joint6" type="hinge" ref="0.0" class="motor_DM4310" range="-0.785398 0.785398" axis="1 0 0" />
+                    <inertial pos="-0.037136587005447405 0.00033230528343419053 -9.498374522309838e-05" quat="1.0 0.0 0.0 0.0" mass="0.475202773187987" diaginertia="0.000143 0.000157 0.000159" />
+                    <geom name="openarm_right_link6_collision" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6_collision" class="collision" />
+                    <geom name="openarm_right_link6_visual_0" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link6_0.obj" class="visual" />
+                    <geom name="openarm_right_link6_visual_1" pos="-0.0375 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link6_1.obj" class="visual" />
+                    <body name="openarm_right_link7" pos="-0.0375 0.0 0.0" quat="1.0 0.0 0.0 0.0">
+                      <joint name="openarm_right_joint7" type="hinge" ref="0.0" class="motor_DM4310" range="-1.570796 1.570796" axis="0 1 0" />
+                      <inertial pos="6.875510271106056e-05 -0.01766175250761268 0.06651945409987448" quat="1.0 0.0 0.0 0.0" mass="0.4659771327380578" diaginertia="0.000639 0.000497 0.000342" />
+                      <geom name="openarm_right_link7_collision" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7_collision" class="collision" />
+                      <geom name="openarm_right_link7_visual_0" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="link7_0.obj" class="visual" />
+                      <geom name="openarm_right_link7_visual_1" pos="0.0 -0.0 -0.5585" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="link7_1.obj" class="visual" />
+                      <body name="openarm_right_link8" pos="1e-06 0.0205 0.0" quat="1.0 0.0 0.0 0.0">
+                        <body name="openarm_right_hand" pos="0 -0.025 0.1001" quat="1.0 0.0 0.0 0.0">
+                          <inertial pos="0.0 0.002 0.01" quat="1.0 0.0 0.0 0.0" mass="0.15" diaginertia="0.0001 0.00025 0.00017" />
+                          <geom name="openarm_right_hand_collision" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hand_collision" class="collision" />
+                          <geom name="openarm_right_hand_visual_0" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_0.obj" class="visual" />
+                          <geom name="openarm_right_hand_visual_1" pos="0.0 0.005 -0.6585" quat="1.0 0.0 0.0 0.0" material="metal_silver" type="mesh" mesh="hand_1.obj" class="visual" />
+                          <body name="openarm_right_hand_tcp" pos="0 -0.0 0.08" quat="1.0 0.0 0.0 0.0" />
+                          <body name="openarm_right_right_finger" pos="0 0.00 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint1" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 -1 0" />
+                            <inertial pos="0.0064528 -0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_right_finger_collision" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision_left" class="collision" />
+                            <geom name="openarm_right_right_finger_visual_0" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0_flip.obj" class="visual" />
+                            <geom name="openarm_right_right_finger_visual_1" pos="0.0 0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1_flip.obj" class="visual" />
+                          </body>
+                          <body name="openarm_right_left_finger" pos="0 0.012 0.015" quat="1.0 0.0 0.0 0.0">
+                            <joint name="openarm_right_finger_joint2" type="slide" ref="0.0" class="motor_finger" range="0.0 0.044" axis="0 1 0" />
+                            <inertial pos="0.0064528 0.01702 0.0219685" quat="1.0 0.0 0.0 0.0" mass="0.03602545343277134" diaginertia="2.3749999999999997e-06 2.3749999999999997e-06 7.5e-07" />
+                            <geom name="openarm_right_left_finger_collision" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="finger_collision" class="collision" />
+                            <geom name="openarm_right_left_finger_visual_0" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="default_material" type="mesh" mesh="finger_0.obj" class="visual" />
+                            <geom name="openarm_right_left_finger_visual_1" pos="0.0 -0.05 -0.673001" quat="1.0 0.0 0.0 0.0" material="matte_black" type="mesh" mesh="finger_1.obj" class="visual" />
+                          </body>
+                        </body>
+                      </body>
+                      <camera name="camera-wrist-right" pos="0 0 0.05" euler="0 1.57 0" fovy="60" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="camera-head" pos="0.1 0 0.8" euler="0 0.5 0" fovy="75" />
+    </body>
+    <site name="world_site" pos="0 0 0" quat="1 0 0 0" />
+    <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
+    <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
+    <camera name="camera-ceiling" pos="0.5 0 1.5" euler="0 1.57 1.57" fovy="90" />
+  </worldbody>
+  <tendon>
+    <fixed name="split_right">
+      <joint joint="openarm_right_finger_joint1" coef="0.5" />
+      <joint joint="openarm_right_finger_joint2" coef="0.5" />
+    </fixed>
+    <fixed name="split_left">
+      <joint joint="openarm_left_finger_joint1" coef="0.5" />
+      <joint joint="openarm_left_finger_joint2" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <joint joint1="openarm_right_finger_joint1" joint2="openarm_right_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="openarm_left_finger_joint1" joint2="openarm_left_finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <motor name="left_joint1_ctrl" joint="openarm_left_joint1" class="motor_DM8009" />
+    <motor name="left_joint2_ctrl" joint="openarm_left_joint2" class="motor_DM8009" />
+    <motor name="left_joint3_ctrl" joint="openarm_left_joint3" class="motor_DM4340" />
+    <motor name="left_joint4_ctrl" joint="openarm_left_joint4" class="motor_DM4340" />
+    <motor name="left_joint5_ctrl" joint="openarm_left_joint5" class="motor_DM4310" />
+    <motor name="left_joint6_ctrl" joint="openarm_left_joint6" class="motor_DM4310" />
+    <motor name="left_joint7_ctrl" joint="openarm_left_joint7" class="motor_DM4310" />
+    <motor name="left_finger1_ctrl" joint="openarm_left_finger_joint1" class="motor_finger" />
+    <motor name="left_finger2_ctrl" joint="openarm_left_finger_joint2" class="motor_finger" />
+    <motor name="right_joint1_ctrl" joint="openarm_right_joint1" class="motor_DM8009" />
+    <motor name="right_joint2_ctrl" joint="openarm_right_joint2" class="motor_DM8009" />
+    <motor name="right_joint3_ctrl" joint="openarm_right_joint3" class="motor_DM4340" />
+    <motor name="right_joint4_ctrl" joint="openarm_right_joint4" class="motor_DM4340" />
+    <motor name="right_joint5_ctrl" joint="openarm_right_joint5" class="motor_DM4310" />
+    <motor name="right_joint6_ctrl" joint="openarm_right_joint6" class="motor_DM4310" />
+    <motor name="right_joint7_ctrl" joint="openarm_right_joint7" class="motor_DM4310" />
+    <position name="right_finger1_ctrl" joint="openarm_right_finger_joint1" class="motor_finger" />
+    <position name="right_finger2_ctrl" joint="openarm_right_finger_joint2" class="motor_finger" />
+  </actuator>
+  <contact>
+    <exclude body1="openarm_body_link0" body2="openarm_left_link0" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link1" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link2" />
+    <exclude body1="openarm_left_link0" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link1" body2="openarm_left_link2" />
+    <exclude body1="openarm_left_link1" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link2" body2="openarm_left_link3" />
+    <exclude body1="openarm_left_link3" body2="openarm_left_link4" />
+    <exclude body1="openarm_left_link4" body2="openarm_left_link5" />
+    <exclude body1="openarm_left_link5" body2="openarm_left_link6" />
+    <exclude body1="openarm_left_link5" body2="openarm_left_link7" />
+    <exclude body1="openarm_left_link6" body2="openarm_left_link7" />
+    <exclude body1="openarm_body_link0" body2="openarm_right_link0" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link1" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link2" />
+    <exclude body1="openarm_right_link0" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link1" body2="openarm_right_link2" />
+    <exclude body1="openarm_right_link1" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link2" body2="openarm_right_link3" />
+    <exclude body1="openarm_right_link3" body2="openarm_right_link4" />
+    <exclude body1="openarm_right_link4" body2="openarm_right_link5" />
+    <exclude body1="openarm_right_link5" body2="openarm_right_link6" />
+    <exclude body1="openarm_right_link5" body2="openarm_right_link7" />
+    <exclude body1="openarm_right_link6" body2="openarm_right_link7" />
+    <exclude body1="openarm_left_hand" body2="openarm_left_right_finger" />
+    <exclude body1="openarm_left_hand" body2="openarm_left_left_finger" />
+    <exclude body1="openarm_right_hand" body2="openarm_right_right_finger" />
+    <exclude body1="openarm_right_hand" body2="openarm_right_left_finger" />
+  </contact>
+  <sensor>
+    <framepos name="world_site_pos" objtype="site" objname="world_site" />
+    <framequat name="world_site_quat" objtype="site" objname="world_site" />
+    <framelinvel name="world_site_linvel" objtype="site" objname="world_site" />
+    <frameangvel name="world_site_angvel" objtype="site" objname="world_site" />
+    <velocimeter name="world_site_vel" site="world_site" />
+  </sensor>
+</mujoco>
\ No newline at end of file