code: def _load_model(self):
          
          super()._load_model()
          self.mujoco_robot = Sawyer()
          if self.has_gripper:
              self.gripper = gripper_factory(self.gripper_type)
              if not self.gripper_visualization:
                  self.gripper.hide_visualization()
              self.mujoco_robot.add_gripper("right_hand", self.gripper)
docs: Loads robot and optionally add grippers.