PyPI - reachy-mini - Versions diffs - 1.2.5rc1__py3-none-any.whl - Mend

reachy-mini 1.2.5rc1__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

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reachy_mini/descriptions/reachy_mini/mjcf/reachy_mini.xml ADDED Viewed

@@ -0,0 +1,642 @@
+<?xml version="1.0" ?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape https://cad.onshape.com/documents/7836ed39be931c6ece17e007/w/39d557f31a0ba179c9e7bd5b/e/c82436d68c7d00e142abc581 -->
+<mujoco model="reachy_mini">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+  <default>
+    <default class="reachy_mini">
+      <joint frictionloss="0.1" armature="0.005"/>
+      <position kp="50" dampratio="1"/>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" contype="1" conaffinity="1"  group="3"/>
+      </default>
+    </default>
+  </default>
+  <!-- Additional joints_properties.xml -->
+  <default>
+    <default class="perfect_actuator">
+      <geom contype="0" conaffinity="0"/>
+        <joint damping="0.15" frictionloss="0.1" armature="0.001"/>
+        <position kp="10.0" kv="0.1" forcerange="-20.0 20.0"/>
+      <default class="chosen_actuator"/>
+    </default>
+    <default class="xc330m288t">
+      <!-- probably wrong, would need to re-identify -->
+      <geom contype="0" conaffinity="0"/>
+      <joint damping="0.095" frictionloss="0.058" armature="0.0018"/>
+      <position kp="2.54" kv="0.0" forcerange="-0.8 0.8"/>
+    </default>
+    <default class="sts3215_345">
+      <!-- Standard sts3215 with 1/345 gear ratio -->
+      <!-- Confident that this is realistic (mini duck walks with these values) -->
+      <geom contype="0" conaffinity="0"/>
+      <joint damping="0.56" frictionloss="0.068" armature="0.027"/>
+      <position kp="17.11" kv="0.0" forcerange="-3.23 3.23"/>
+    </default>
+    <default class="sts3215_147">
+      <!-- sts3215 with 1/147 gear ratio -->
+      <!-- (Estimation based on the gear ratio difference) -->
+      <geom contype="0" conaffinity="0"/>
+      <joint damping="0.1" frictionloss="0.028" armature="0.011"/>
+      <position kp="17.11" kv="0.0" forcerange="-1.35 1.35"/>
+    </default>
+  </default>
+  <!-- Additional additional.xml -->
+  <contact>
+    <!-- <exclude name="exclude0" body1="torso" body2="sts32155"/> -->
+  </contact>
+  <default>
+    <equality solref="0.002 1" solimp="0.99 0.999 0.0005 0.5 2"/>
+  </default>
+  <worldbody>
+    <!-- World-fixed third-person camera in front of the robot -->
+    <camera name="studio_close"
+            mode="targetbodycom"
+          target="xl_330"
+          pos="0.8 -0.2 0.4"
+          resolution="640 640"
+          fovy="35"/>
+    <!-- Link body_foot_3dprint -->
+    <body name="body_foot_3dprint" pos="0 0 0" quat="1 0 0 0" childclass="reachy_mini">
+      <inertial pos="0.00290221 0.000112574 0.0132607" mass="0.0617881" fullinertia="6.91521e-05 6.07324e-05 0.000110345 -1.98794e-07 -4.91678e-08 -3.02441e-08"/>
+      <!-- Part body_foot_3dprint -->
+      <geom type="mesh" class="visual" pos="-2.45997e-07 6.93889e-18 0.2298" quat="0.707107 -2.36704e-18 2.77556e-17 0.707107" mesh="body_foot_3dprint" material="body_foot_3dprint_material"/>
+      <!-- Part dc15_a01_horn_dummy -->
+      <geom type="mesh" class="visual" pos="-2.45997e-07 6.93889e-18 0.0413" quat="0.5 -0.5 0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+      <!-- Part body_turning_3dprint -->
+      <geom type="mesh" class="visual" pos="-2.45997e-07 6.93889e-18 0.2298" quat="0.707107 2.19194e-17 2.29851e-17 0.707107" mesh="body_turning_3dprint" material="body_turning_3dprint_material"/>
+      <!-- Link body_down_3dprint -->
+      <body name="body_down_3dprint" pos="-2.45997e-07 6.93889e-18 0.0348" quat="0.707107 5.13478e-16 8.88178e-16 -0.707107">
+        <!-- Joint from body_foot_3dprint to body_down_3dprint -->
+        <joint axis="0 0 1" name="yaw_body" type="hinge" range="-2.792526803190975 2.792526803190879" class="chosen_actuator"/>
+        <inertial pos="2.19196e-06 0.000620543 0.0201687" mass="0.78209" fullinertia="0.00233791 0.00224458 0.00254424 1.10376e-07 -1.41892e-07 -4.46122e-05"/>
+        <!-- Part body_down_3dprint -->
+        <geom type="mesh" class="visual" pos="3.79972e-17 -3.70588e-18 0.195" quat="1.38858e-17 -0 1.67446e-17 1" mesh="body_down_3dprint" material="body_down_3dprint_material"/>
+        <!-- Part stewart_tricap_3dprint -->
+        <geom type="mesh" class="visual" pos="4.80615e-16 -1.03807e-15 0.195" quat="1.38777e-17 -0 1.67377e-17 1" mesh="stewart_tricap_3dprint" material="stewart_tricap_3dprint_material"/>
+        <!-- Part 5w_speaker -->
+        <geom type="mesh" class="visual" pos="8.17568e-16 -0.005 0.0535833" quat="9.54336e-15 9.94747e-18 0.707107 0.707107" mesh="5w_speaker" material="5w_speaker_material"/>
+        <!-- Part bearing_85x110x13 -->
+        <geom type="mesh" class="visual" pos="3.79972e-17 -3.70588e-18 -0.0115" quat="0.5 0.5 0.5 0.5" mesh="bearing_85x110x13" material="bearing_85x110x13_material"/>
+        <!-- Part body_top_3dprint -->
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_front_0"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_front_1"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_front_2"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_back_0"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_back_1"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_back_2"/>
+        <geom type="mesh" class="collision" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint_collider_back_3"/>
+        <geom type="mesh" class="visual" pos="6.43558e-16 9.98888e-16 0.195" quat="1.38781e-17 -0 1.67393e-17 1" mesh="body_top_3dprint" material="body_top_3dprint_material"/>
+        <!-- Part stewart_main_plate_3dprint -->
+        <geom type="mesh" class="visual" pos="-3.07628e-26 -5.29396e-23 0.195" quat="1.38846e-17 0 1.67459e-17 1" mesh="stewart_main_plate_3dprint" material="stewart_main_plate_3dprint_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10 -->
+        <geom type="mesh" class="visual" pos="-0.01 -0.0501606 0.0418333" quat="8.17339e-16 -1.60549e-14 -1 4.58108e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2 -->
+        <geom type="mesh" class="visual" pos="-0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 -0.5 -4.78784e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3 -->
+        <geom type="mesh" class="visual" pos="0 -5.29396e-23 0.0065" quat="0.707107 -0.707107 0 -2.3491e-31" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_4 -->
+        <geom type="mesh" class="visual" pos="0.0384404 0.0337406 0.0418333" quat="8.29278e-16 -0.866025 0.5 4.78784e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_5 -->
+        <geom type="mesh" class="visual" pos="0.01 -0.0501606 0.0418333" quat="8.17116e-16 -1.6695e-14 1 -4.57765e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_6 -->
+        <geom type="mesh" class="visual" pos="-0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 -0.5 9.36751e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Part phs_1_7x20_5_dc10_2_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+        <!-- Part dc15_a01_case_b_dummy_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+        <!-- Part dc15_a01_case_m_dummy_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+        <!-- Part dc15_a01_led_cap2_dummy_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+        <!-- Part bts2_m2_6x8_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+        <!-- Part dc15_a01_case_f_dummy_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+        <!-- Part b3b_eh_1_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+        <!-- Part b3b_eh_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="b3b_eh" material="b3b_eh_material"/>
+        <!-- Part phs_1_7x20_5_dc10_3_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+        <!-- Part phs_1_7x20_5_dc10_1_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+        <!-- Part phs_1_7x20_5_dc10_7 -->
+        <geom type="mesh" class="visual" pos="0.0484404 0.01642 0.0418333" quat="1.20185e-17 -0.866025 0.5 -9.36751e-16" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+        <!-- Link dc15_a01_horn_dummy -->
+        <body name="dc15_a01_horn_dummy" pos="-0.0328112 0.0304906 0.0418333" quat="0.612372 0.612372 0.353553 0.353553">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy -->
+          <joint axis="0 0 1" name="stewart_1" type="hinge" range="-0.8377580409572196 1.3962634015955222" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.13786e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.81822e-13 -1.93125e-07 1.09002e-14"/>
+          <!-- Part dc15_a01_horn_dummy_2 -->
+          <geom type="mesh" class="visual" pos="3.46945e-18 0 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Part mp01062_stewart_arm_3 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Part stewart_link_ball -->
+          <geom type="mesh" class="visual" pos="0.0825 -1.6545e-10 0.007" quat="1 1.09495e-14 1.77636e-15 2.19524e-15" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Link stewart_link_rod -->
+          <body name="stewart_link_rod" pos="0.04 -1.6545e-10 0.007" quat="0.497033 0.00414178 -0.0814283 0.863893">
+            <!-- Joint from dc15_a01_horn_dummy to stewart_link_rod -->
+            <joint axis="0 0 1" name="passive_1" type="ball" class="chosen_actuator"/>
+            <inertial pos="0.0425001 8.43768e-11 -1.88428e-09" mass="0.00503424" fullinertia="2.63976e-08 3.65211e-06 3.66473e-06 -3.69517e-13 7.12534e-14 5.21041e-14"/>
+            <!-- Part stewart_link_rod -->
+            <geom type="mesh" class="visual" pos="0.0425 0 6.93889e-18" quat="1 -6.66292e-18 5.55112e-17 1.31391e-16" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Frame closing_1_1 -->
+            <site group="3" name="closing_1_1" pos="0.085 -1.38778e-17 0" quat="1 -6.66292e-18 5.55112e-17 1.31391e-16"/>
+          </body>
+        </body>
+        <!-- Link dc15_a01_horn_dummy_2 -->
+        <body name="dc15_a01_horn_dummy_2" pos="-0.0428112 0.01317 0.0418333" quat="0.353553 -0.353553 0.612372 -0.612372">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy_2 -->
+          <joint axis="0 0 1" name="stewart_2" type="hinge" range="-1.396263401595614 1.2217304763958803" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.27591e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.79436e-13 -1.93125e-07 1.03818e-14"/>
+          <!-- Part stewart_link_ball_2 -->
+          <geom type="mesh" class="visual" pos="-0.0025 4.16334e-17 0.007" quat="6.30546e-15 -6.04913e-15 1.19904e-14 1" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Part dc15_a01_horn_dummy_3 -->
+          <geom type="mesh" class="visual" pos="-1.73472e-18 0 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Part mp01062_stewart_arm_3_2 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Link stewart_link_rod_2 -->
+          <body name="stewart_link_rod_2" pos="0.04 1.249e-16 0.007" quat="6.10896e-15 6.31057e-15 1 -1.23174e-14">
+            <!-- Joint from dc15_a01_horn_dummy_2 to stewart_link_rod_2 -->
+            <joint axis="0 0 1" name="passive_2" type="ball" class="chosen_actuator"/>
+            <inertial pos="0.0214999 -0.0364688 -0.00374429" mass="0.00503424" fullinertia="2.72424e-06 9.82586e-07 3.63642e-06 1.57393e-06 1.6134e-07 -2.75528e-07"/>
+            <!-- Part stewart_link_rod_2 -->
+            <geom type="mesh" class="visual" pos="0.0215 -0.0364689 -0.0037443" quat="0.0195742 -0.496665 -0.866005 -0.0545625" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Frame closing_2_1 -->
+            <site group="3" name="closing_2_1" pos="0.043 -0.0729378 -0.00748861" quat="0.0195742 -0.496665 -0.866005 -0.0545625"/>
+          </body>
+        </body>
+        <!-- Link dc15_a01_horn_dummy_3 -->
+        <body name="dc15_a01_horn_dummy_3" pos="-0.01 -0.0436606 0.0418333" quat="3.19818e-14 -5.957e-15 0.707107 0.707107">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy_3 -->
+          <joint axis="0 0 1" name="stewart_3" type="hinge" range="-0.8377580409572173 1.3962634015955244" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.27591e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.79436e-13 -1.93125e-07 1.03818e-14"/>
+          <!-- Part dc15_a01_horn_dummy_4 -->
+          <geom type="mesh" class="visual" pos="-1.73472e-18 1.38778e-17 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Part stewart_link_ball_3 -->
+          <geom type="mesh" class="visual" pos="0.04 -0.0425 0.007" quat="0.707107 -4.06341e-15 -6.43929e-15 -0.707107" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Part mp01062_stewart_arm_3_3 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Link stewart_link_rod_3 -->
+          <body name="stewart_link_rod_3" pos="0.04 8.32667e-17 0.007" quat="0.848296 0.182577 -0.0544081 -0.494063">
+            <!-- Joint from dc15_a01_horn_dummy_3 to stewart_link_rod_3 -->
+            <joint axis="0 0 1" name="passive_3" type="ball" class="chosen_actuator"/>
+            <inertial pos="-0.0424999 8.43768e-11 -1.88428e-09" mass="0.00503424" fullinertia="2.63976e-08 3.65211e-06 3.66473e-06 -3.69517e-13 7.12534e-14 5.21041e-14"/>
+            <!-- Part stewart_link_rod_3 -->
+            <geom type="mesh" class="visual" pos="-0.0425 -1.38778e-17 0" quat="1 0 2.22045e-16 5.35987e-17" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Frame closing_3_1 -->
+            <site group="3" name="closing_3_1" pos="-0.085 -1.38778e-17 0" quat="1 0 2.22045e-16 5.35987e-17"/>
+          </body>
+        </body>
+        <!-- Link dc15_a01_horn_dummy_4 -->
+        <body name="dc15_a01_horn_dummy_4" pos="0.01 -0.0436606 0.0418333" quat="0.707107 -0.707107 -3.64153e-14 -1.2529e-14">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy_4 -->
+          <joint axis="0 0 1" name="stewart_4" type="hinge" range="-1.3962634015953894 0.8377580409573525" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.27591e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.79436e-13 -1.93125e-07 1.03818e-14"/>
+          <!-- Part stewart_link_ball_4 -->
+          <geom type="mesh" class="visual" pos="0.04 0.0425 0.007" quat="0.707107 -6.93925e-16 -0 0.707107" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Part mp01062_stewart_arm_3_4 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Part dc15_a01_horn_dummy_5 -->
+          <geom type="mesh" class="visual" pos="-1.73472e-18 -1.38778e-17 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Link stewart_link_rod_4 -->
+          <body name="stewart_link_rod_4" pos="0.04 2.77556e-17 0.007" quat="0.865702 -0.0591779 0.0169265 0.496762">
+            <!-- Joint from dc15_a01_horn_dummy_4 to stewart_link_rod_4 -->
+            <joint axis="0 0 1" name="passive_4" type="ball" class="chosen_actuator"/>
+            <inertial pos="-0.0424999 8.43769e-11 -1.88428e-09" mass="0.00503424" fullinertia="2.63976e-08 3.65211e-06 3.66473e-06 -3.69517e-13 7.12534e-14 5.21041e-14"/>
+            <!-- Part stewart_link_rod_4 -->
+            <geom type="mesh" class="visual" pos="-0.0425 1.38778e-17 0" quat="1 0 5.55112e-17 -1.17998e-16" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Frame closing_4_1 -->
+            <site group="3" name="closing_4_1" pos="-0.085 2.77556e-17 0" quat="1 0 5.55112e-17 -1.17998e-16"/>
+          </body>
+        </body>
+        <!-- Link dc15_a01_horn_dummy_5 -->
+        <body name="dc15_a01_horn_dummy_5" pos="0.0428112 0.01317 0.0418333" quat="0.612372 0.612372 -0.353553 -0.353553">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy_5 -->
+          <joint axis="0 0 1" name="stewart_5" type="hinge" range="-1.2217304763962082 1.396263401595286" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.27591e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.79436e-13 -1.93125e-07 1.03818e-14"/>
+          <!-- Part mp01062_stewart_arm_3_5 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Part stewart_link_ball_5 -->
+          <geom type="mesh" class="visual" pos="-0.0025 8.32667e-17 0.007" quat="1.02062e-16 6.9016e-15 -4.44089e-16 -1" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Part dc15_a01_horn_dummy_6 -->
+          <geom type="mesh" class="visual" pos="0 0 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Link stewart_link_rod_5 -->
+          <body name="stewart_link_rod_5" pos="0.04 5.55112e-17 0.007" quat="0.864425 0.0755679 0.00751236 -0.496993">
+            <!-- Joint from dc15_a01_horn_dummy_5 to stewart_link_rod_5 -->
+            <joint axis="0 0 1" name="passive_5" type="ball" class="chosen_actuator"/>
+            <inertial pos="-0.0424999 8.43768e-11 -1.88428e-09" mass="0.00503424" fullinertia="2.63976e-08 3.65211e-06 3.66473e-06 -3.69517e-13 7.12534e-14 5.21041e-14"/>
+            <!-- Part stewart_link_rod_5 -->
+            <geom type="mesh" class="visual" pos="-0.0425 0 0" quat="1 0 1.11022e-16 2.31852e-16" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Frame closing_5_1 -->
+            <site group="3" name="closing_5_1" pos="-0.085 -1.38778e-17 0" quat="1 0 1.11022e-16 2.31852e-16"/>
+          </body>
+        </body>
+        <!-- Link dc15_a01_horn_dummy_6 -->
+        <body name="dc15_a01_horn_dummy_6" pos="0.0328112 0.0304906 0.0418333" quat="0.353553 -0.353553 -0.612372 0.612372">
+          <!-- Joint from body_down_3dprint to dc15_a01_horn_dummy_6 -->
+          <joint axis="0 0 1" name="stewart_6" type="hinge" range="-1.3962634015954123 0.8377580409573296" class="chosen_actuator"/>
+          <inertial pos="0.0237505 1.27591e-09 0.00335838" mass="0.00366675" fullinertia="8.57063e-08 1.28019e-06 1.26546e-06 1.79436e-13 -1.93125e-07 1.03818e-14"/>
+          <!-- Part dc15_a01_horn_dummy_7 -->
+          <geom type="mesh" class="visual" pos="3.46945e-18 0 -0.0065" quat="0.5 0.5 -0.5 -0.5" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+          <!-- Part stewart_link_ball_6 -->
+          <geom type="mesh" class="visual" pos="0.0825 8.32667e-17 0.007" quat="1 6.26127e-15 7.27196e-15 1.9618e-14" mesh="stewart_link_ball" material="stewart_link_ball_material"/>
+          <!-- Part mp01062_stewart_arm_3_6 -->
+          <geom type="mesh" class="visual" pos="-0.01 -0.153167 0.0436606" quat="0.612372 0.612372 -0.353553 0.353553" mesh="mp01062_stewart_arm_3" material="mp01062_stewart_arm_3_material"/>
+          <!-- Link stewart_link_rod_6 -->
+          <body name="stewart_link_rod_6" pos="0.04 9.71445e-17 0.007" quat="0.0566689 0.865869 0.496711 -0.018366">
+            <!-- Joint from dc15_a01_horn_dummy_6 to stewart_link_rod_6 -->
+            <joint axis="0 0 1" name="passive_6" type="ball" class="chosen_actuator"/>
+            <inertial pos="-0.0424999 8.43768e-11 -1.88428e-09" mass="0.00503424" fullinertia="2.63976e-08 3.65211e-06 3.66473e-06 -3.69517e-13 7.12534e-14 5.21041e-14"/>
+            <!-- Part stewart_link_rod_6 -->
+            <geom type="mesh" class="visual" pos="-0.0425 0 0" quat="1 0 -1.11022e-16 5.66481e-17" mesh="stewart_link_rod" material="stewart_link_rod_material"/>
+            <!-- Link xl_330 -->
+            <body name="xl_330" pos="-0.085 0 0" quat="0 1 0 0">
+              <!-- Joint from stewart_link_rod_6 to xl_330 -->
+              <joint axis="0 0 1" name="passive_7" type="ball" class="chosen_actuator"/>
+              <inertial pos="-0.0487051 -0.0237648 0.020658" mass="0.259259" fullinertia="0.000634651 0.000587786 0.000460283 3.65691e-05 -2.18087e-05 9.29467e-05"/>
+              <!-- Part m12_fisheye_lens_1_8mm -->
+              <geom type="mesh" class="visual" pos="-0.0387195 -0.0329451 -0.0240431" quat="0.182968 0.474809 0.465151 0.724371" mesh="m12_fisheye_lens_1_8mm" material="m12_fisheye_lens_1_8mm_material"/>
+              <!-- Part stewart_link_ball_7 -->
+              <geom type="mesh" class="visual" pos="0.0175286 0.0420772 0.0551172" quat="0.176467 -0.199534 0.847949 -0.458289" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part big_lens_d40 -->
+              <geom type="mesh" class="visual" pos="-0.0262968 -0.0511554 -0.0373805" quat="0.182968 0.474809 0.465151 0.724371" mesh="big_lens_d40" material="big_lens_d40_material"/>
+              <!-- Part neck_reference_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="neck_reference_3dprint" material="neck_reference_3dprint_material"/>
+              <!-- Part head_back_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="head_back_3dprint" material="head_back_3dprint_material"/>
+              <!-- Part arducam -->
+              <geom type="mesh" class="visual" pos="-0.045905 -0.0448628 -0.0036254" quat="0.00682952 -0.641585 -0.38283 0.664652" mesh="arducam" material="arducam_material"/>
+              <!-- Part pp01102_arducam_carter -->
+              <geom type="mesh" class="visual" pos="-0.0311515 -0.0518836 0.00154345" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="pp01102_arducam_carter" material="pp01102_arducam_carter_material"/>
+              <!-- Part antenna_holder_l_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0536682 -0.0188765 0.0257182" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="antenna_holder_l_3dprint" material="antenna_holder_l_3dprint_material"/>
+              <!-- Part stewart_link_ball_8 -->
+              <geom type="mesh" class="visual" pos="-0.00630385 -0.00639493 0.0739606" quat="0.297432 -0.759048 0.40183 0.417029" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part lens_cap_d30_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0536562 -0.018894 0.0257054" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="lens_cap_d30_3dprint" material="lens_cap_d30_3dprint_material"/>
+              <!-- Part lens_cap_d40_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0536391 -0.0189191 0.025687" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="lens_cap_d40_3dprint" material="lens_cap_d40_3dprint_material"/>
+              <!-- Part antenna_holder_r_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0536682 -0.0188765 0.0257182" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="antenna_holder_r_3dprint" material="antenna_holder_r_3dprint_material"/>
+              <!-- Part stewart_link_ball_9 -->
+              <geom type="mesh" class="visual" pos="0.0150556 0.0490816 0.0432504" quat="0.176467 -0.199534 0.847949 -0.458289" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part small_lens_d30 -->
+              <geom type="mesh" class="visual" pos="-0.0244054 -0.0696173 0.0280123" quat="0.182968 0.474809 0.465151 0.724371" mesh="small_lens_d30" material="small_lens_d30_material"/>
+              <!-- Part stewart_link_ball_10 -->
+              <geom type="mesh" class="visual" pos="-0.0109132 -0.00132777 0.0861703" quat="0.297432 -0.759048 0.40183 0.417029" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part stewart_link_ball_11 -->
+              <geom type="mesh" class="visual" pos="-0.0215 0.0366458 0.00104087" quat="0.865869 0.0566689 -0.018366 -0.496711" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part glasses_dolder_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="glasses_dolder_3dprint" material="glasses_dolder_3dprint_material"/>
+              <!-- Part head_front_3dprint -->
+              <geom type="mesh" class="collision" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="head_one_3dprint_collider_0"/>
+              <geom type="mesh" class="visual" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="head_front_3dprint" material="head_front_3dprint_material"/>
+              <!-- Part head_mic_3dprint -->
+              <geom type="mesh" class="visual" pos="-0.0535717 -0.0190178 0.0256147" quat="0.664652 0.38283 -0.641585 -0.00682952" mesh="head_mic_3dprint" material="head_mic_3dprint_material"/>
+              <!-- Part m12_fisheye_lens_1_8mm_2 -->
+              <geom type="mesh" class="visual" pos="-0.0272066 -0.0655112 0.0310197" quat="0.182968 0.474809 0.465151 0.724371" mesh="m12_fisheye_lens_1_8mm" material="m12_fisheye_lens_1_8mm_material"/>
+              <!-- Part stewart_link_ball_12 -->
+              <geom type="mesh" class="visual" pos="-0.0285824 0.0487174 0.00138374" quat="0.865869 0.0566689 -0.018366 -0.496711" mesh="stewart_link_ball__2" material="stewart_link_ball__2_material"/>
+              <!-- Part phs_1_7x20_5_dc10_2_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+              <!-- Part dc15_a01_case_b_dummy_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+              <!-- Part dc15_a01_case_m_dummy_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+              <!-- Part dc15_a01_led_cap2_dummy_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+              <!-- Part bts2_m2_6x8_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+              <!-- Part dc15_a01_case_f_dummy_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+              <!-- Part b3b_eh_1_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+              <!-- Part b3b_eh_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="b3b_eh" material="b3b_eh_material"/>
+              <!-- Part phs_1_7x20_5_dc10_3_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+              <!-- Part phs_1_7x20_5_dc10_1_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+              <!-- Part phs_1_7x20_5_dc10_8 -->
+              <geom type="mesh" class="visual" pos="-0.0737021 -0.0344474 0.0784637" quat="0.510613 0.133926 0.626988 0.572909" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+              <!-- Part phs_1_7x20_5_dc10_2_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="phs_1_7x20_5_dc10_2" material="phs_1_7x20_5_dc10_2_material"/>
+              <!-- Part dc15_a01_case_b_dummy_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="dc15_a01_case_b_dummy" material="dc15_a01_case_b_dummy_material"/>
+              <!-- Part dc15_a01_case_m_dummy_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="dc15_a01_case_m_dummy" material="dc15_a01_case_m_dummy_material"/>
+              <!-- Part dc15_a01_led_cap2_dummy_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="dc15_a01_led_cap2_dummy" material="dc15_a01_led_cap2_dummy_material"/>
+              <!-- Part bts2_m2_6x8_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="bts2_m2_6x8" material="bts2_m2_6x8_material"/>
+              <!-- Part dc15_a01_case_f_dummy_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="dc15_a01_case_f_dummy" material="dc15_a01_case_f_dummy_material"/>
+              <!-- Part b3b_eh_1_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="b3b_eh_1" material="b3b_eh_1_material"/>
+              <!-- Part b3b_eh_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="b3b_eh" material="b3b_eh_material"/>
+              <!-- Part phs_1_7x20_5_dc10_3_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="phs_1_7x20_5_dc10_3" material="phs_1_7x20_5_dc10_3_material"/>
+              <!-- Part phs_1_7x20_5_dc10_1_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="phs_1_7x20_5_dc10_1" material="phs_1_7x20_5_dc10_1_material"/>
+              <!-- Part phs_1_7x20_5_dc10_9 -->
+              <geom type="mesh" class="visual" pos="-0.0909991 0.0145437 -0.0045371" quat="0.727894 -0.195583 0.610571 0.243148" mesh="phs_1_7x20_5_dc10" material="phs_1_7x20_5_dc10_material"/>
+              <!-- Frame closing_1_2 -->
+              <site group="3" name="closing_1_2" pos="0.00768882 -0.0217774 0.0368953" quat="0.297432 -0.759048 0.40183 0.417029"/>
+              <!-- Frame closing_2_2 -->
+              <site group="3" name="closing_2_2" pos="0.00307947 -0.0167102 0.049105" quat="0.297432 -0.759048 0.40183 0.417029"/>
+              <!-- Frame closing_3_2 -->
+              <site group="3" name="closing_3_2" pos="-0.0189403 0.0208215 0.050171" quat="0.199279 0.740682 -0.458499 0.44884"/>
+              <!-- Frame closing_4_2 -->
+              <site group="3" name="closing_4_2" pos="-0.0214133 0.0278259 0.0383042" quat="0.199279 0.740682 -0.458499 0.44884"/>
+              <!-- Frame closing_5_2 -->
+              <site group="3" name="closing_5_2" pos="-0.00708235 0.0120716 0.000342873" quat="0.0270842 -0.96349 -0.261035 -0.0530577"/>
+              <!-- Frame camera_optical -->
+              <site group="3" name="camera_optical" pos="-0.0321159 -0.05047 0.00257878" quat="0.44884 0.458499 0.740682 -0.199279"/>
+              <!-- Frame camera -->
+              <body pos="-0.0321159 -0.05047 0.00257878" quat="0.45849885704787313 -0.44883986005938376 0.19927893786822465 0.7406817690680519">
+                <site group="3" name="camera"/>
+                <camera name="eye_camera"
+                  mode="fixed"
+                  resolution="1280 720"
+                  fovy="80"
+                />
+              </body>
+              <!-- Frame head -->
+              <site group="3" name="head" pos="-0.00611127 0.00370522 0.0291364" quat="0.465151 0.724371 -0.182968 -0.474809"/>
+              <!-- Link dc15_a01_horn_dummy_7 -->
+              <body name="dc15_a01_horn_dummy_7" pos="-0.0948524 0.0197779 -0.00445785" quat="0.652996 0.376401 0.603671 -0.259807">
+                <!-- Joint from xl_330 to dc15_a01_horn_dummy_7 -->
+                <joint axis="0 0 1" name="right_antenna" type="hinge" class="chosen_actuator"/>
+                <inertial pos="2.09613e-05 -0.0378463 -0.00866471" mass="0.0105926" fullinertia="2.69314e-05 2.98203e-07 2.68876e-05 2.22219e-09 3.62599e-10 -6.63107e-07"/>
+                <!-- Part antenna -->
+                <geom type="mesh" class="visual" pos="8.00228e-15 -0.0588 -0.0103" quat="1 1.97595e-15 5.55112e-17 6.44483e-14" mesh="antenna" material="antenna_material"/>
+                <!-- Part dc15_a01_horn_dummy_8 -->
+                <geom type="mesh" class="visual" pos="3.46945e-18 5.55112e-17 0.0065" quat="0.707107 -0.707107 -4.4631e-14 4.13126e-14" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+                <!-- Part antenna_interface_3dprint -->
+                <geom type="mesh" class="visual" pos="5.20417e-18 5.55112e-17 1.38778e-17" quat="4.24424e-14 -4.25344e-14 0.707107 -0.707107" mesh="antenna_interface_3dprint" material="antenna_interface_3dprint_material"/>
+                <!-- Part antenna_body_3dprint -->
+                <geom type="mesh" class="visual" pos="5.72459e-17 1.38778e-16 -0.0028" quat="4.49233e-14 -4.13486e-14 0.707107 -0.707107" mesh="antenna_body_3dprint" material="antenna_body_3dprint_material"/>
+              </body>
+              <!-- Link dc15_a01_horn_dummy_8 -->
+              <body name="dc15_a01_horn_dummy_8" pos="-0.0764135 -0.0324475 0.0840224" quat="0.266359 0.455758 0.848455 -0.0382396">
+                <!-- Joint from xl_330 to dc15_a01_horn_dummy_8 -->
+                <joint axis="0 0 1" name="left_antenna" type="hinge" class="chosen_actuator"/>
+                <inertial pos="2.09613e-05 -0.0378463 -0.00866471" mass="0.0105926" fullinertia="2.69314e-05 2.98203e-07 2.68876e-05 2.22219e-09 3.62599e-10 -6.63107e-07"/>
+                <!-- Part dc15_a01_horn_dummy_9 -->
+                <geom type="mesh" class="visual" pos="3.46945e-18 -2.77556e-17 0.0065" quat="0.707107 -0.707107 -4.59632e-14 3.59094e-14" mesh="dc15_a01_horn_dummy" material="dc15_a01_horn_dummy_material"/>
+                <!-- Part antenna_body_3dprint_2 -->
+                <geom type="mesh" class="visual" pos="5.89806e-17 2.77556e-17 -0.0028" quat="4.39921e-14 -3.7351e-14 0.707107 -0.707107" mesh="antenna_body_3dprint" material="antenna_body_3dprint_material"/>
+                <!-- Part antenna_interface_3dprint_2 -->
+                <geom type="mesh" class="visual" pos="5.20417e-18 0 0" quat="4.58651e-14 -3.58073e-14 0.707107 -0.707107" mesh="antenna_interface_3dprint" material="antenna_interface_3dprint_material"/>
+                <!-- Part antenna_2 -->
+                <geom type="mesh" class="visual" pos="6.79838e-15 -0.0588 -0.0103" quat="1 -1.09379e-15 -2.58127e-15 5.78419e-14" mesh="antenna" material="antenna_material"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <asset>
+    <mesh file="body_down_3dprint.stl"/>
+    <mesh file="antenna_holder_r_3dprint.stl"/>
+    <mesh file="dc15_a01_led_cap2_dummy.stl"/>
+    <mesh file="pp01102_arducam_carter.stl"/>
+    <mesh file="dc15_a01_case_m_dummy.stl"/>
+    <mesh file="stewart_main_plate_3dprint.stl"/>
+    <mesh file="lens_cap_d40_3dprint.stl"/>
+    <mesh file="stewart_tricap_3dprint.stl"/>
+    <mesh file="dc15_a01_horn_dummy.stl"/>
+    <mesh file="big_lens_d40.stl"/>
+    <mesh file="dc15_a01_case_b_dummy.stl"/>
+    <mesh file="antenna_interface_3dprint.stl"/>
+    <mesh file="phs_1_7x20_5_dc10_3.stl"/>
+    <mesh file="antenna.stl"/>
+    <mesh file="body_foot_3dprint.stl"/>
+    <mesh file="head_front_3dprint.stl"/>
+    <mesh file="stewart_link_ball__2.stl"/>
+    <mesh file="head_mic_3dprint.stl"/>
+    <mesh file="glasses_dolder_3dprint.stl"/>
+    <mesh file="b3b_eh.stl"/>
+    <mesh file="phs_1_7x20_5_dc10_2.stl"/>
+    <mesh file="body_turning_3dprint.stl"/>
+    <mesh file="stewart_link_rod.stl"/>
+    <mesh file="dc15_a01_case_f_dummy.stl"/>
+    <mesh file="antenna_holder_l_3dprint.stl"/>
+    <mesh file="bearing_85x110x13.stl"/>
+    <mesh file="bts2_m2_6x8.stl"/>
+    <mesh file="mp01062_stewart_arm_3.stl"/>
+    <mesh file="arducam.stl"/>
+    <mesh file="small_lens_d30.stl"/>
+    <mesh file="5w_speaker.stl"/>
+    <mesh file="m12_fisheye_lens_1_8mm.stl"/>
+    <mesh file="b3b_eh_1.stl"/>
+    <mesh file="antenna_body_3dprint.stl"/>
+    <mesh file="body_top_3dprint.stl"/>
+    <mesh file="stewart_link_ball.stl"/>
+    <mesh file="neck_reference_3dprint.stl"/>
+    <mesh file="lens_cap_d30_3dprint.stl"/>
+    <mesh file="phs_1_7x20_5_dc10.stl"/>
+    <mesh file="phs_1_7x20_5_dc10_1.stl"/>
+    <mesh file="head_back_3dprint.stl"/>
+    <!-- Collision models defualt: coarse - there is also fine (but much more detailed models)-->
+    <mesh file="collision/coarse/head_one_3dprint_collider_0.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_front_0.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_front_1.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_front_2.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_back_0.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_back_1.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_back_2.stl"/>
+    <mesh file="collision/coarse/body_top_3dprint_collider_back_3.stl"/>
+    <material name="body_foot_3dprint_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="dc15_a01_horn_dummy_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="body_turning_3dprint_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="body_down_3dprint_material" rgba="1 1 1 1"/>
+    <material name="stewart_tricap_3dprint_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="5w_speaker_material" rgba="0.196078 0.196078 0.196078 1"/>
+    <material name="bearing_85x110x13_material" rgba="0.768627 0.886275 0.952941 1"/>
+    <material name="body_top_3dprint_material" rgba="1 1 1 1"/>
+    <material name="stewart_main_plate_3dprint_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="phs_1_7x20_5_dc10_2_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="dc15_a01_case_b_dummy_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="dc15_a01_case_m_dummy_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="dc15_a01_led_cap2_dummy_material" rgba="0.87451 0.447059 0.317647 1"/>
+    <material name="bts2_m2_6x8_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="dc15_a01_case_f_dummy_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="b3b_eh_1_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="b3b_eh_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="phs_1_7x20_5_dc10_3_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="phs_1_7x20_5_dc10_1_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="phs_1_7x20_5_dc10_material" rgba="0.262745 0.282353 0.301961 1"/>
+    <material name="mp01062_stewart_arm_3_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="stewart_link_ball_material" rgba="0.439216 0.47451 0.501961 1"/>
+    <material name="stewart_link_rod_material" rgba="0.811765 0.858824 0.898039 1"/>
+    <material name="m12_fisheye_lens_1_8mm_material" rgba="0.498039 0.498039 0.498039 1"/>
+    <material name="stewart_link_ball__2_material" rgba="0.439216 0.47451 0.501961 1"/>
+    <material name="big_lens_d40_material" rgba="0.439216 0.47451 0.501961 0.301961"/>
+    <material name="neck_reference_3dprint_material" rgba="0.901961 0.901961 0.901961 1"/>
+    <material name="head_back_3dprint_material" rgba="1 1 1 1"/>
+    <material name="arducam_material" rgba="0.498039 0.498039 0.498039 1"/>
+    <material name="pp01102_arducam_carter_material" rgba="0.301961 0.301961 0.301961 1"/>
+    <material name="antenna_holder_l_3dprint_material" rgba="0.498039 0.498039 0.498039 1"/>
+    <material name="lens_cap_d30_3dprint_material" rgba="0.0980392 0.0980392 0.0980392 1"/>
+    <material name="lens_cap_d40_3dprint_material" rgba="0.0980392 0.0980392 0.0980392 1"/>
+    <material name="antenna_holder_r_3dprint_material" rgba="0.498039 0.498039 0.498039 1"/>
+    <material name="small_lens_d30_material" rgba="0.439216 0.47451 0.501961 0.301961"/>
+    <material name="glasses_dolder_3dprint_material" rgba="0.196078 0.196078 0.196078 1"/>
+    <material name="head_front_3dprint_material" rgba="1 1 1 1"/>
+    <material name="head_mic_3dprint_material" rgba="1 1 1 1"/>
+    <material name="antenna_material" rgba="0 0 0 1"/>
+    <material name="antenna_interface_3dprint_material" rgba="0.713725 0.760784 0.8 1"/>
+    <material name="antenna_body_3dprint_material" rgba="1 1 1 1"/>
+  </asset>
+  <actuator>
+    <position class="chosen_actuator" name="yaw_body" joint="yaw_body" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_1" joint="stewart_1" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_2" joint="stewart_2" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_3" joint="stewart_3" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_4" joint="stewart_4" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_5" joint="stewart_5" inheritrange="1"/>
+    <position class="chosen_actuator" name="stewart_6" joint="stewart_6" inheritrange="1"/>
+    <position class="chosen_actuator" name="right_antenna" joint="right_antenna"/>
+    <position class="chosen_actuator" name="left_antenna" joint="left_antenna"/>
+  </actuator>
+  <equality>
+    <connect site1="closing_1_1" site2="closing_1_2"/>
+    <connect site1="closing_2_1" site2="closing_2_2"/>
+    <connect site1="closing_3_1" site2="closing_3_2"/>
+    <connect site1="closing_4_1" site2="closing_4_2"/>
+    <connect site1="closing_5_1" site2="closing_5_2"/>
+  </equality>
+</mujoco>