<mujoco model="panda">
  <compiler angle="radian" assetdir="assets" autolimits="true" />
  <default>
    <default class="panda">
      <material reflectance="0.5" metallic="0.0" roughness="0.45" />
      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
      <position forcerange="-100 100" />
      <default class="finger">
        <joint axis="0 1 0" type="slide" range="0 0.04" />
      </default>

      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" group="2" />
      </default>
      <default class="collision">
        <geom group="3" type="mesh" contype="1" conaffinity="1" />
        <default class="primitive_collision">
          <geom group="3" type="box" condim="3" solimp="0.99 0.995 0.01"
            solref="0.01 1" friction="1 0.005 0.0001" />
          <default class="fingertip_pad_collision_1">
            <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011" />
          </default>
          <default class="fingertip_pad_collision_2">
            <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022" />
          </default>
          <default class="fingertip_pad_collision_3">
            <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0" />
          </default>
          <default class="fingertip_pad_collision_4">
            <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3" />
          </default>
        </default>
      </default>
    </default>
  </default>

  <asset>
    <material class="panda" name="white" rgba="1 1 1 1" />
    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1" />
    <material class="panda" name="black" rgba="0.25 0.25 0.25 1" />
    <material class="panda" name="green" rgba="0 1 0 1" />
    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1" />

    <!-- Collision meshes -->
    <mesh name="link0_c" file="link0.stl" />
    <mesh name="link1_c" file="link1.stl" />
    <mesh name="link2_c" file="link2.stl" />
    <mesh name="link3_c" file="link3.stl" />
    <mesh name="link4_c" file="link4.stl" />
    <mesh name="link5_c0" file="link5_collision_0.obj" />
    <mesh name="link5_c1" file="link5_collision_1.obj" />
    <mesh name="link5_c2" file="link5_collision_2.obj" />
    <mesh name="link6_c" file="link6.stl" />
    <mesh name="link7_c" file="link7.stl" />
    <mesh name="hand_c" file="hand.stl" />

    <!-- Visual meshes -->
    <mesh file="link0_0.obj" />
    <mesh file="link0_1.obj" />
    <mesh file="link0_2.obj" />
    <mesh file="link0_3.obj" />
    <mesh file="link0_4.obj" />
    <mesh file="link0_5.obj" />
    <mesh file="link0_7.obj" />
    <mesh file="link0_8.obj" />
    <mesh file="link0_9.obj" />
    <mesh file="link0_10.obj" />
    <mesh file="link0_11.obj" />
    <mesh file="link1.obj" />
    <mesh file="link2.obj" />
    <mesh file="link3_0.obj" />
    <mesh file="link3_1.obj" />
    <mesh file="link3_2.obj" />
    <mesh file="link3_3.obj" />
    <mesh file="link4_0.obj" />
    <mesh file="link4_1.obj" />
    <mesh file="link4_2.obj" />
    <mesh file="link4_3.obj" />
    <mesh file="link5_0.obj" />
    <mesh file="link5_1.obj" />
    <mesh file="link5_2.obj" />
    <mesh file="link6_0.obj" />
    <mesh file="link6_1.obj" />
    <mesh file="link6_2.obj" />
    <mesh file="link6_3.obj" />
    <mesh file="link6_4.obj" />
    <mesh file="link6_5.obj" />
    <mesh file="link6_6.obj" />
    <mesh file="link6_7.obj" />
    <mesh file="link6_8.obj" />
    <mesh file="link6_9.obj" />
    <mesh file="link6_10.obj" />
    <mesh file="link6_11.obj" />
    <mesh file="link6_12.obj" />
    <mesh file="link6_13.obj" />
    <mesh file="link6_14.obj" />
    <mesh file="link6_15.obj" />
    <mesh file="link6_16.obj" />
    <mesh file="link7_0.obj" />
    <mesh file="link7_1.obj" />
    <mesh file="link7_2.obj" />
    <mesh file="link7_3.obj" />
    <mesh file="link7_4.obj" />
    <mesh file="link7_5.obj" />
    <mesh file="link7_6.obj" />
    <mesh file="link7_7.obj" />
    <mesh file="hand_0.obj" />
    <mesh file="hand_1.obj" />
    <mesh file="hand_2.obj" />
    <mesh file="hand_3.obj" />
    <mesh file="hand_4.obj" />
    <mesh file="finger_0.obj" />
    <mesh file="finger_1.obj" />
  </asset>

  <worldbody>
    <body name="link0" childclass="panda" pos="1 0 0" quat="0 0 0 1">
      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
      <geom mesh="link0_0" material="off_white" class="visual" />
      <geom mesh="link0_1" material="black" class="visual" />
      <geom mesh="link0_2" material="off_white" class="visual" />
      <geom mesh="link0_3" material="black" class="visual" />
      <geom mesh="link0_4" material="off_white" class="visual" />
      <geom mesh="link0_5" material="black" class="visual" />
      <geom mesh="link0_7" material="white" class="visual" />
      <geom mesh="link0_8" material="white" class="visual" />
      <geom mesh="link0_9" material="black" class="visual" />
      <geom mesh="link0_10" material="off_white" class="visual" />
      <geom mesh="link0_11" material="white" class="visual" />
      <geom mesh="link0_c" class="collision" />
      <body name="link1" pos="0 0 0.333">
        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
        <joint name="joint1" damping="40" />
        <geom material="white" mesh="link1" class="visual" />
        <geom mesh="link1_c" class="collision" />
        <body name="link2" quat="1 -1 0 0">
          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
          <joint name="joint2" range="-1.7628 1.7628" damping="40" />
          <geom material="white" mesh="link2" class="visual" />
          <geom mesh="link2_c" class="collision" />
          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
            <joint name="joint3" damping="40" />
            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
            <geom mesh="link3_0" material="white" class="visual" />
            <geom mesh="link3_1" material="white" class="visual" />
            <geom mesh="link3_2" material="white" class="visual" />
            <geom mesh="link3_3" material="black" class="visual" />
            <geom mesh="link3_c" class="collision" />
            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
              <joint name="joint4" range="-3.0718 -0.0698" damping="40" />
              <geom mesh="link4_0" material="white" class="visual" />
              <geom mesh="link4_1" material="white" class="visual" />
              <geom mesh="link4_2" material="black" class="visual" />
              <geom mesh="link4_3" material="white" class="visual" />
              <geom mesh="link4_c" class="collision" />
              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
                <joint name="joint5" damping="2" />
                <geom mesh="link5_0" material="black" class="visual" />
                <geom mesh="link5_1" material="white" class="visual" />
                <geom mesh="link5_2" material="white" class="visual" />
                <geom mesh="link5_c0" class="collision" />
                <geom mesh="link5_c1" class="collision" />
                <geom mesh="link5_c2" class="collision" />
                <body name="link6" quat="1 1 0 0">
                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
                  <joint name="joint6" range="-0.0175 3.7525" damping="2" />
                  <geom mesh="link6_0" material="off_white" class="visual" />
                  <geom mesh="link6_1" material="white" class="visual" />
                  <geom mesh="link6_2" material="black" class="visual" />
                  <geom mesh="link6_3" material="white" class="visual" />
                  <geom mesh="link6_4" material="white" class="visual" />
                  <geom mesh="link6_5" material="white" class="visual" />
                  <geom mesh="link6_6" material="white" class="visual" />
                  <geom mesh="link6_7" material="light_blue" class="visual" />
                  <geom mesh="link6_8" material="light_blue" class="visual" />
                  <geom mesh="link6_9" material="black" class="visual" />
                  <geom mesh="link6_10" material="black" class="visual" />
                  <geom mesh="link6_11" material="white" class="visual" />
                  <geom mesh="link6_12" material="green" class="visual" />
                  <geom mesh="link6_13" material="white" class="visual" />
                  <geom mesh="link6_14" material="black" class="visual" />
                  <geom mesh="link6_15" material="black" class="visual" />
                  <geom mesh="link6_16" material="white" class="visual" />
                  <geom mesh="link6_c" class="collision" />
                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
                    <joint name="joint7" damping="2" />
                    <geom mesh="link7_0" material="white" class="visual" />
                    <geom mesh="link7_1" material="black" class="visual" />
                    <geom mesh="link7_2" material="black" class="visual" />
                    <geom mesh="link7_3" material="black" class="visual" />
                    <geom mesh="link7_4" material="black" class="visual" />
                    <geom mesh="link7_5" material="black" class="visual" />
                    <geom mesh="link7_6" material="black" class="visual" />
                    <geom mesh="link7_7" material="white" class="visual" />
                    <geom mesh="link7_c" class="collision" />
                    <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017" />
                      <geom mesh="hand_0" material="off_white" class="visual" />
                      <geom mesh="hand_1" material="black" class="visual" />
                      <geom mesh="hand_2" material="black" class="visual" />
                      <geom mesh="hand_3" material="white" class="visual" />
                      <geom mesh="hand_4" material="off_white" class="visual" />
                      <geom mesh="hand_c" class="collision" />
                      <geom name="hand_capsule" type="capsule"
                        class="collision" conaffinity="1" size="0.04 0.06"
                        quat="1 1 0 0" pos="0 0 0.03" />
                      <site name="gripper" pos="0 0 0.1" />
                      <body name="left_finger" pos="0 0 0.0584">
                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
                        <joint name="finger_joint1" class="finger" damping="10" />
                        <geom mesh="finger_0" material="off_white" class="visual" />
                        <geom mesh="finger_1" material="black" class="visual" />
                        <geom mesh="finger_0" class="collision" />
                        <geom class="fingertip_pad_collision_1" />
                        <geom class="fingertip_pad_collision_2" />
                        <geom class="fingertip_pad_collision_3" />
                        <geom name="left_finger_pad" class="fingertip_pad_collision_4" />
                      </body>
                      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
                        <joint name="finger_joint2" class="finger" damping="10" />
                        <geom mesh="finger_0" material="off_white" class="visual" />
                        <geom mesh="finger_1" material="black" class="visual" />
                        <geom mesh="finger_0" class="collision" />
                        <geom class="fingertip_pad_collision_1" />
                        <geom class="fingertip_pad_collision_2" />
                        <geom class="fingertip_pad_collision_3" />
                        <geom name="right_finger_pad" class="fingertip_pad_collision_4" />
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <equality>
    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1" />
  </equality>

  <actuator>
    <position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
      ctrlrange="-2.8973 2.8973" />
    <position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
      ctrlrange="-1.7628 1.7628" />
    <position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
      ctrlrange="-2.8973 2.8973" />
    <position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
      ctrlrange="-3.0718 -0.0698" />
    <position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
      forcerange="-12 12" ctrlrange="-2.8973 2.8973" />
    <position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
      ctrlrange="-0.0175 3.7525" />
    <position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" ctrlrange="-2.8 2.8"
      forcerange="-12 12" />
    <general class="panda" name="actuator8" joint="finger_joint1"
      ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" />
  </actuator>

  <contact>
    <exclude body1="link0" body2="link1" />
  </contact>
</mujoco>