<!--# Created by Xinchao Song on May 21, 2020.-->

<mujoco>
    <body name="gripah-base" pos="0 36.65 11.85" quat="0 -1 1 0">
        <geom name="geom:gripah-base" type="cylinder" size="5 1" quat="1 0 1 0" mass="0.01"
              rgba="0.89804 0.91765 0.92941 1"/>
        <!--        <joint type="slide" name="slide:gripah-base-x" axis="-1 0 0"/>-->
        <!--        <joint type="slide" name="slide:gripah-base-y" axis="0 -1 0"/>-->
        <joint type="slide" name="slide:gripah-base-z" axis="0 0 -1"/>

        <body name="wrist" pos="6.95 0 0" quat="1 0 0 0">
            <inertial pos="-2.0421 0 0" mass="0.18" diaginertia="1 1 1"/>
            <geom name="geom:wrist" type="mesh" mesh="mesh:wrist" rgba="0.89804 0.91765 0.92941 1"/>
            <!-- <joint name="hinge:gripah-base" pos="0 0 0" type="hinge" axis="1 0 0" limited="true" range="-3.14159 3.14159"/> -->

            <body name="wide-finger" pos="5.5 0 0" quat="1 1 0 0">
                <inertial pos="0.056976 0.015337 -2.3122e-09" quat="0.653281 0.653281 -0.270598 -0.270598" mass="0.0167"
                          diaginertia="1.01 1 0.99"/>
                <geom name="geom:wide-finger" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="mesh:wide-finger"
                      contype="0" conaffinity="0"/>
                <geom name="geom:wide-finger-tip" type="mesh" rgba="0.89804 0.91765 0.92941 1"
                      mesh="mesh:wide-finger-tip"/>
                <joint name="hinge:wide-finger" pos="0 0 0" axis="0 0 1" limited="true" range="-1.0472 1.0472"
                       damping="20" stiffness="1" springref="0" ref="0"/>
            </body>

            <body name="narrow-finger" pos="5.5 0 0" quat="1 1 0 0">
                <inertial pos="5.2556 1.3896 2.3305e-05" quat="0.653281 0.653281 -0.270598 -0.270598"
                          mass="0.016641" diaginertia="1.03 1 0.97"/>
                <geom name="geom:narrow-finger" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="mesh:narrow-finger"
                      contype="0" conaffinity="0"/>
                <geom name="geom:narrow-finger-tip" type="mesh" rgba="0.89804 0.91765 0.92941 1"
                      mesh="mesh:narrow-finger-tip"/>
                <joint name="hinge:narrow-finger" pos="0 0 0" axis="0 0 1" limited="true" range="-1.0472 1.0472"
                       damping="20" stiffness="1" springref="0" ref="0"/>
            </body>

            <site name="gripah-center" size="0.1" pos="0 0 0" rgba="0 0 0 1" type="sphere"/>
        </body>
    </body>
</mujoco>
