<mujoco model="panda">
 <compiler angle="radian" discardvisual="true" meshdir="../meshes_panda/for_mujoco/"/>
 <option timestep="0.001" gravity="0 0 -9.81" collision="all" cone="elliptic" solver="Newton" tolerance="1e-10"
         impratio="1"/>
 <size njmax="500" nconmax="2000"/>
 <asset>
  <mesh name="link0v" file="link0v.stl"/>
  <mesh name="link0" file="link0.stl"/>
  <mesh name="link1v" file="link1v.stl"/>
  <mesh name="link1" file="link1.stl"/>
  <mesh name="link2v" file="link2v.stl"/>
  <mesh name="link2" file="link2.stl"/>
  <mesh name="link3v" file="link3v.stl"/>
  <mesh name="link3" file="link3.stl"/>
  <mesh name="link4v" file="link4v.stl"/>
  <mesh name="link4" file="link4.stl"/>
  <mesh name="link5v" file="link5v.stl"/>
  <mesh name="link5" file="link5.stl"/>
  <mesh name="link6v" file="link6v.stl"/>
  <mesh name="link6" file="link6.stl"/>
  <mesh name="link7v" file="link7v.stl"/>
  <mesh name="link7" file="link7.stl"/>
  <mesh name="handv" file="handv.stl"/>
  <mesh name="hand" file="hand.stl"/>
  <mesh name="fingerv" file="fingerv.stl"/>
  <mesh name="finger" file="finger.stl"/>
  <!--<mesh name="d435v" file="d435v.stl" />-->
 </asset>
 <default>
  <!--<geom solref='0.02 1' solimp='0.9 0.95 0.001'/>-->
  <!--<geom solimp='0.99 0.99 0.01' solref="0.01 1" condim="4"/>-->
  <geom condim="4"/>
 </default>
 -->
 <contact>
  <exclude body1="panda_link0" body2="panda_link1"/>
  <exclude body1="panda_link1" body2="panda_link2"/>
  <exclude body1="panda_link2" body2="panda_link3"/>
  <exclude body1="panda_link3" body2="panda_link4"/>
  <exclude body1="panda_link4" body2="panda_link5"/>
  <exclude body1="panda_link5" body2="panda_link6"/>
  <exclude body1="panda_link6" body2="panda_link7"/>
  <exclude body1="panda_link7" body2="panda_link8"/>
  <exclude body1="panda_link8" body2="panda_hand"/>
 </contact>
 <worldbody>
  <light directional="false" cutoff="90" exponent="1" diffuse="1 1 1" specular="0 0 0" pos="1 0 1.5" dir="-1 0 -2.5"/>
  <geom name="ground" type="plane" pos="0 0 0" size="4 4 .05" rgba="0.7 0.6 0.5 1"/>
  <!--<body name="goal" pos="1. 0 0.5" >
  <geom type="box" rgba="1 0 0 1" size="0.1 0.1 0.1"/>
</body>-->
  <!--<body name="test" type="box" pos="0.8 0 0.1">
   <geom type="box" size=".1 .1 .1" rgba ="1 0 0 1" />
  </body>-->
  <!--<geom name="test" type="box" pos="0.8 0 0.1" size=".1 .1 .1" rgba ="1 0 0 1" />-->
  <body name="panda_link0" pos="0 0 0">
   <inertial pos="-0.0291898 -0.000879465 0.0566032" quat="0.00411744 0.564916 0.0132875 0.825031" mass="3.01399"
             diaginertia="0.0126801 0.0117603 0.00856656"/>
   <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link0v"/>
   <geom type="mesh" rgba="1 1 1 1" mesh="link0"/>
   <body name="panda_link1" pos="0 0 0.333">
    <inertial pos="1.1399e-05 -0.0312655 -0.0693733" quat="0.98466 0.174481 -0.000101815 0.000347662" mass="2.77281"
              diaginertia="0.0164224 0.0153969 0.00546286"/>
    <joint name="panda_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671"/>
    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link1v"/>
    <geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
    <body name="panda_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
     <inertial pos="-1.31766e-05 -0.0703216 0.0311782" quat="0.57484 0.818266 -6.05764e-05 -6.61626e-05" mass="2.7996"
               diaginertia="0.016787 0.0157415 0.00553027"/>
     <joint name="panda_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.8326 1.8326"/>
     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link2v"/>
     <geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
     <body name="panda_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
      <inertial pos="0.0443483 0.0249283 -0.03813" quat="0.0615263 0.349824 0.234291 0.904956" mass="2.14603"
                diaginertia="0.00915257 0.00896477 0.00384742"/>
      <joint name="panda_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671"/>
      <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link3v"/>
      <geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
      <body name="panda_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
       <inertial pos="-0.0385503 0.0395256 0.0247162" quat="0.813566 0.465041 0.309792 0.160858" mass="2.18807"
                 diaginertia="0.00946899 0.00928491 0.00396694"/>
       <joint name="panda_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 0.0873"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link4v"/>
       <geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
       <body name="panda_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
        <inertial pos="-6.36776e-05 0.0384124 -0.10997" quat="0.990767 -0.135571 0.000963106 0.000694406" mass="3.19545"
                  diaginertia="0.0278873 0.0268823 0.00569569"/>
        <joint name="panda_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671"/>
        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link5v"/>
        <geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
        <body name="panda_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
         <inertial pos="0.0510023 0.00693267 0.00616899" quat="-0.0460841 0.754362 0.044494 0.653325" mass="1.35761"
                   diaginertia="0.00412168 0.0033698 0.00213304"/>
         <joint name="panda_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0873 3.8223"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link6v"/>
         <geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
         <body name="panda_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
          <inertial pos="0.0103614 0.0103596 0.0791078" quat="0.63547 0.278021 -0.670462 0.263369" mass="0.417345"
                    diaginertia="0.000637671 0.000528056 0.000279577"/>
          <joint name="panda_joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671"/>
          <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link7v"/>
          <geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
          <body name="panda_link8" pos="0 0 0.107">
           <inertial pos="0 0 0" mass="0.1" diaginertia="0.1 0.1 0.1"/>
           <body name="panda_hand" pos="0 0 0" quat="0.92388 0 0 -0.382683">
            <inertial pos="-2.76618e-06 -0.00061547 0.0239295" quat="0.697945 0.716151 -0.000242485 8.47563e-05"
                      mass="0.670782" diaginertia="0.00227632 0.00206087 0.000456542"/>
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="handv"/>
            <geom type="mesh" mesh="hand"/>
            <!--<camera name="rgbd" mode="fixed" fovy="60" ipd="0.0" pos="0.043 0.0 0." euler="0 3.14 0"/>-->
            <camera name="rgbd" mode="fixed" fovy="60" ipd="0.0" pos="0.1 0.0 0." euler="0 3.14 0"/>
            <!--<camera name="rgbd" mode="fixed" fovy="60" ipd="0.0" pos="0.1 0.0 0." euler="0 3.14 0"/>-->
            <!--<geom type="mesh" mesh="finger" pos="0.05 0. 0.0" euler="0 3.14 0"/>-->
            <body name="panda_leftfinger" pos="0 0 0.0584">
             <inertial pos="-2.42335e-05 0.0119585 0.0237816" quat="0.996177 0.0868631 -2.79377e-05 -0.00926642"
                       mass="0.0218754" diaginertia="5.69661e-06 5.56035e-06 1.55183e-06"/>
             <joint name="panda_finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0 0.04"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="fingerv"/>
             <geom type="mesh" mesh="finger"/>
            </body>
            <body name="panda_rightfinger" pos="0 0 0.0584">
             <inertial pos="2.42335e-05 -0.0119585 0.0237816" quat="0.996177 -0.0868631 2.79377e-05 -0.00926642"
                       mass="0.0218754" diaginertia="5.69661e-06 5.56035e-06 1.55183e-06"/>
             <joint name="panda_finger_joint2" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="0 0.04"/>
             <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="fingerv"/>
             <geom quat="0 0 0 1" type="mesh" mesh="finger"/>
            </body>
           </body>
          </body>
         </body>
        </body>
       </body>
      </body>
     </body>
    </body>
   </body>
  </body>
  <body name="box_to_pick" pos=".7 -0.2 0.15">
   <freejoint/>
   <inertial pos="0 0 0 " mass="0.1" diaginertia="3 3 3"/>
   <geom type="box" pos="0 0 0" size="0.02 0.02 0.02" rgba="0.1 0.25 0.3 1"/>
  </body>
  <!--<body name="box_to_pick2" pos=".6 -0.1 0.05">
   <freejoint/>
   <inertial pos="0 0 0 " mass="0.1" diaginertia="3 3 3"/>
      <geom type="box" pos="0 0 0" size="0.02 0.02 0.02" rgba="0.2 0.3 0.7 1"/>
  </body>
  <body name="box_to_pick3" pos=".4 -0.1 0.05">
   <freejoint/>
   <inertial pos="0 0 0 " mass="0.1" diaginertia="3 3 3"/>
      <geom type="box" pos="0 0 0" size="0.02 0.02 0.02" rgba="0.5 0.5 0.5 1"/>
  </body>-->
 </worldbody>
 <actuator>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint1" name="panda_joint1_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint2" name="panda_joint2_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint3" name="panda_joint3_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint4" name="panda_joint4_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint5" name="panda_joint5_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint6" name="panda_joint6_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint7" name="panda_joint7_act"/>
  <motor joint="panda_finger_joint1" name="panda_finger_joint1_act"/>
  <motor joint="panda_finger_joint2" name="panda_finger_joint2_act"/>
 </actuator>
 <!--<actuator>
  <motor joint="panda_joint1" name="panda_joint1_act"/>
  <motor joint="panda_joint2" name="panda_joint2_act"/>
  <motor joint="panda_joint3" name="panda_joint3_act"/>
  <motor joint="panda_joint4" name="panda_joint4_act"/>
  <motor joint="panda_joint5" name="panda_joint5_act"/>
  <motor joint="panda_joint6" name="panda_joint6_act"/>
  <motor joint="panda_joint7" name="panda_joint7_act"/>
  <motor joint="panda_finger_joint1" name="panda_finger_joint1_act"/>
  <motor joint="panda_finger_joint2" name="panda_finger_joint2_act"/>
 </actuator>-->
</mujoco>
