code: def _load_model(self):
          
          super()._load_model()
          self.mujoco_robot = Baxter()
          if self.has_gripper_right:
              self.gripper_right = gripper_factory(self.gripper_right_name)
              if not self.gripper_visualization:
                  self.gripper_right.hide_visualization()
              self.mujoco_robot.add_gripper("right_hand", self.gripper_right)
  
          if self.has_gripper_left:
              self.gripper_left = gripper_factory(self.gripper_left_name)
              if not self.gripper_visualization:
                  self.gripper_left.hide_visualization()
              self.mujoco_robot.add_gripper("left_hand", self.gripper_left)
docs: Loads robot and optionally add grippers.