<mujocoinclude>
<!-- =================================================
    Model   :: Franka (MuJoCoV2.0)
    Original:: See https://github.com/vikashplus/franka_sim
====================================================== -->

<!-- Robot limits pulled from https://frankaemika.github.io/docs/control_parameters.html#constants -->

    <body name="panda0_link0" childclass="panda" >
        <geom class="panda_viz" mesh="link0_viz"/>
        <geom class="panda_col" mesh="link0_col" mass="2.91242"/>
        <body name="panda0_link1" pos="0 0 0.333">
            <joint name="panda0_joint1" range="-2.8973 2.8973" class="panda_arm"/>
            <geom class="panda_viz" mesh="link1_viz"/>
            <geom class="panda_col" mesh="link1_col" mass="2.7063"/>
            <body name="panda0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                <joint name="panda0_joint2" range="-1.7628 1.7628" class="panda_arm"/>
                <geom class="panda_viz" mesh="link2_viz"/>
                <geom class="panda_col" mesh="link2_col" mass="2.73046"/>
                <body name="panda0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                    <joint name="panda0_joint3" range="-2.8973 2.8973" class="panda_arm"/>
                    <geom class="panda_viz" mesh="link3_viz"/>
                    <geom class="panda_col" mesh="link3_col" mass="2.04104"/>
                    <body name="panda0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                        <joint name="panda0_joint4" range="-3.0718 -0.4" class="panda_arm"/>
                        <geom class="panda_viz" mesh="link4_viz"/>
                        <geom class="panda_col" mesh="link4_col" mass="2.08129"/>
                        <body name="panda0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                            <joint name="panda0_joint5" range="-2.8973 2.8973" class="panda_forearm"/>
                            <geom class="panda_viz" mesh="link5_viz"/>
                            <geom class="panda_col" mesh="link5_col" mass="3.00049"/>
                            <body name="panda0_link6" pos="0 0 0" euler='1.57 0 1.57'>
                                <joint name="panda0_joint6" range="-1.6573 2.1127" class="panda_forearm"/>
                                <!-- <body name="panda0_link6" pos="0 0 0" quat="0.707107 0.707107 0 0"> -->
                                <!-- <joint name="panda0_joint6" range="-0.0873 3.8223" class="panda_forearm"/> -->
                                <geom class="panda_viz" mesh="link6_viz"/>
                                <geom class="panda_col" mesh="link6_col" mass="1.3235"/>
                                <body name="panda0_link7" pos="0.088 0 0" euler='1.57 0 0.7854'>
                                    <joint name="panda0_joint7" range="-2.8973 2.8973" class="panda_forearm"/>
                                    <!-- <body name="panda0_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0"> -->
                                    <!-- <joint name="panda0_joint7" range="-2.9671 2.9671" class="panda_forearm"/> -->
                                    <geom class="panda_viz" mesh="link7_viz"/>
                                    <geom class="panda_col" mesh="link7_col" mass="0.2"/>
                                    <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_viz" mesh="hand_viz"/>
                                    <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_col" mesh="hand_col" mass="0.81909"/>
                                    <site name='panda0_end_effector' pos='0 0 .250' size='0.01' euler='0 0 -0.785398'/>
                                    <body name="panda0_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683" childclass='panda_finger'>
                                        <inertial pos="-1.57863e-05 0.0118731 0.0434103" quat="0.705868 0.0310348 -0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
                                        <joint name="panda0_finger_joint1"  axis="0 1 0" type="slide" range="0 0.04" class="panda_finger"/>
                                        <geom class="panda_viz" mesh="finger_viz"/>
                                        <!-- <geom class="panda_col" mesh="finger_col"/> -->
                                        <geom size="0.0070" fromto=".009 .006 .0875   -.009 .009 .0875" type="capsule" />
                                        <geom size="0.0070" fromto=".009 .009 .0875   -.009 .006 .0875" type="capsule" />

                                        <geom size="0.0075" fromto=".009 .007 .0775   -.009 .010 .0775" type="capsule" />
                                        <geom size="0.0075" fromto=".009 .010 .0775   -.009 .007 .0775" type="capsule" />

                                        <geom size="0.0082" fromto=".009 .008 .0675   -.009 .011 .0675" type="capsule" />
                                        <geom size="0.0082" fromto=".009 .011 .0675   -.009 .008 .0675" type="capsule" />

                                        <geom size="0.0090" fromto=".009 .009 .0575   -.009 .012 .0575" type="capsule" />
                                        <geom size="0.0090" fromto=".009 .012 .0575   -.009 .009 .0575" type="capsule" />

                                        <geom size="0.0100" fromto=".009 .0105 .0475   -.009 .0135 .0475" type="capsule" />
                                        <geom size="0.0100" fromto=".009 .0135 .0475   -.009 .0105 .0475" type="capsule" />

                                        <geom size="0.0110" fromto=".009 .012 .035   -.009 .015 .035" type="capsule" />
                                        <geom size="0.0110" fromto=".009 .015 .035   -.009 .012 .035" type="capsule" />

                                        <geom size="0.0185 0.0120 0.0175" pos="0 0.014 0.015" type="box" euler='.03 0 0' />

                                    </body>
                                    <body name="panda0_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683"  childclass='panda_finger'>
                                        <inertial pos="1.57863e-05 -0.0118731 0.0434103" quat="0.705868 -0.0310348 0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
                                        <joint name="panda0_finger_joint2" axis="0 -1 0" type="slide" range="0 0.04" class="panda_finger"/>
                                        <geom quat="0 0 0 1" class="panda_viz" mesh="finger_viz"/>
                                        <!-- <geom class="panda_col" mesh="finger_col"/> -->
                                        <geom size="0.0070" fromto=".009 -.006 .0875   -.009 -.009 .0875" type="capsule" />
                                        <geom size="0.0070" fromto=".009 -.009 .0875   -.009 -.006 .0875" type="capsule" />

                                        <geom size="0.0075" fromto=".009 -.007 .0775   -.009 -.010 .0775" type="capsule" />
                                        <geom size="0.0075" fromto=".009 -.010 .0775   -.009 -.007 .0775" type="capsule" />

                                        <geom size="0.0082" fromto=".009 -.008 .0675   -.009 -.011 .0675" type="capsule" />
                                        <geom size="0.0082" fromto=".009 -.011 .0675   -.009 -.008 .0675" type="capsule" />

                                        <geom size="0.0090" fromto=".009 -.009 .0575   -.009 -.012 .0575" type="capsule" />
                                        <geom size="0.0090" fromto=".009 -.012 .0575   -.009 -.009 .0575" type="capsule" />

                                        <geom size="0.0100" fromto=".009 -.0105 .0475   -.009 -.0135 .0475" type="capsule" />
                                        <geom size="0.0100" fromto=".009 -.0135 .0475   -.009 -.0105 .0475" type="capsule" />

                                        <geom size="0.0110" fromto=".009 -.012 .035   -.009 -.015 .035" type="capsule" />
                                        <geom size="0.0110" fromto=".009 -.015 .035   -.009 -.012 .035" type="capsule" />

                                        <geom size="0.0185 0.0120 0.0175" pos="0 -.014 0.015" type="box" euler='-.03 0 0' />
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujocoinclude>
