<mujoco model="panda">
    <compiler angle="radian" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="link0" file="link0.stl" />
        <mesh name="link1" file="link1.stl" />
        <mesh name="link2" file="link2.stl" />
        <mesh name="link3" file="link3.stl" />
        <mesh name="link4" file="link4.stl" />
        <mesh name="link5" file="link5.stl" />
        <mesh name="link6" file="link6.stl" />
        <mesh name="link7" file="link7.stl" />
        <mesh name="hand" file="hand.stl" />
        <mesh name="finger" file="finger.stl" />
        <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
        <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
    </asset>
    <worldbody>
        <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
       
        <geom type="mesh" rgba="1 1 1 1" mesh="link0" />
        <body name="panda_link1" pos="0 0 0.333">
            <inertial pos="2.23331e-06 -0.0324794 -0.0675759" quat="0.981685 0.190514 3.25128e-05 -0.000197731" mass="2.48106" diaginertia="0.016331 0.0161114 0.00391197" />
            <joint name="panda_joint1" damping="100" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671" />
            <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="3.06832e-06 -0.0686027 0.0322097" quat="0.560723 0.828003 -0.000161471 0.000122581" mass="2.50118" diaginertia="0.0166848 0.0164617 0.00394577" />
                <joint name="panda_joint2" damping="100" pos="0 0 0" axis="0 0 1" limited="true" range="-1.8326 1.8326" />
                <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="0.0472246 0.0315806 -0.0322521" quat="-0.0149067 0.367857 0.23901 0.898517" mass="1.81633" diaginertia="0.00870932 0.00864748 0.00248118" />
                    <joint name="panda_joint3" damping="100" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671" />
                    <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="-0.0359194 0.0334788 0.0311571" quat="0.822819 0.449368 0.282998 0.20236" mass="1.85242" diaginertia="0.00905326 0.00899766 0.00255325" />
                        <joint name="panda_joint4" damping="100" pos="0 0 0" axis="0 0 1" limited="true" range="-3.1416 0" />
                        <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="-4.66644e-05 0.052777 -0.09842" quat="0.989511 -0.144436 0.000348994 0.00243299" mass="2.62952" diaginertia="0.0276164 0.0267043 0.00350504" />
                            <joint name="panda_joint5" damping="100" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671" />
                            <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="0.0522581 0.0068803 0.00853438" quat="-0.0530638 0.775191 0.053589 0.627209" mass="1.21176" diaginertia="0.00378782 0.00292139 0.00179178" />
                                <joint name="panda_joint6" damping="10" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0873 3.8223" />
                                <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="0.00350743 0.00354792 0.111051" quat="0.257259 0.28351 0.683294 0.62173" mass="0.890282" diaginertia="0.00295678 0.00226587 0.00112525" />
                                    <joint name="panda_joint7" damping="10" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9671 2.9671" />
                                    <geom type="mesh" rgba="1 1 1 1" mesh="link7" />
                                    <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" type="mesh" rgba="1 1 1 1" mesh="hand" />
                                    <body name="panda_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                                        <inertial pos="-1.8291e-06 0.0123159 0.0245396" quat="0.70113 0.0854958 -0.0855768 0.702698" mass="0.0166274" diaginertia="4.87247e-06 4.85977e-06 8.12278e-07" />
                                        <joint name="panda_finger_joint1" damping="100" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0 0.04"  armature='5'/>
                                        <geom type="mesh" rgba="1 1 1 1" mesh="finger" />
                                    </body>
                                    <body name="panda_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                                        <inertial pos="1.8291e-06 -0.0123159 0.0245396" quat="-0.702698 0.0855768 0.0854958 0.70113" mass="0.0166274" diaginertia="4.87247e-06 4.85977e-06 8.12278e-07" />
                                        <joint name="panda_finger_joint2" damping="100" pos="0 0 0" axis="0 -1 0" type="slide" limited="true" range="0 0.04" armature='5'/>
                                        <geom quat="0 0 0 1" type="mesh" rgba="1 1 1 1" mesh="finger" />
                                        <site name="panda:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
                                    </body>
                                    
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        
        <geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
        <body name="floor0" pos="0.8 0.75 0">
                <site name="target0" pos="0 0 0.5" size="0.05 0.05 0.05" rgba="1 0 0 1" type="sphere"></site>
                <site name="path_follower" pos="0.02 0 0" size="0.06 0.06 0.06" rgba="0 0 1 1" type="sphere"></site>
        </body>
        
        <body mocap="true" name="panda:mocap" pos="0 0 0">
                <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
                <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box"></geom>
                <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box"></geom>
                <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
            </body>
                
    </worldbody>
    
    
    <actuator>
        
          <motor name="TorqueJ1" ctrllimited="true" ctrlrange="-87 87" joint="panda_joint1" gear="30"/>
          <motor name="TorqueJ2" ctrllimited="true" ctrlrange="-87 87" joint="panda_joint2" gear="30"/>
          <motor name="TorqueJ3" ctrllimited="true" ctrlrange="-87 87" joint="panda_joint3" gear="30"/>
          <motor name="TorqueJ4" ctrllimited="true" ctrlrange="-87 87" joint="panda_joint4" gear="30"/>
          <motor name="TorqueJ5" ctrllimited="true" ctrlrange="-12 12" joint="panda_joint5" gear="15"/>
          <motor name="TorqueJ6" ctrllimited="true" ctrlrange="-12 12" joint="panda_joint6" gear="15"/>
          <motor name="TorqueJ7" ctrllimited="true" ctrlrange="-12 12" joint="panda_joint7" gear="15"/>
          <motor name="TorqueG1" ctrllimited="true" ctrlrange="-70 70" joint="panda_finger_joint1" gear="30"/>
          <motor name="TorqueG2" ctrllimited="true" ctrlrange="-70 70" joint="panda_finger_joint2" gear="30"/>
      </actuator>
    
    <sensor>
           <jointpos name="fr_arm_jp1" joint="panda_joint1"/>
           <jointpos name="fr_arm_jp2" joint="panda_joint2"/>
           <jointpos name="fr_arm_jp3" joint="panda_joint3"/>
           <jointpos name="fr_arm_jp4" joint="panda_joint4"/>
           <jointpos name="fr_arm_jp5" joint="panda_joint5"/>
           <jointpos name="fr_arm_jp6" joint="panda_joint6"/>
           <jointpos name="fr_arm_jp7" joint="panda_joint7"/>
           <jointpos name="fr_fin_jp1" joint="panda_finger_joint1"/>
           <jointpos name="fr_fin_jp2" joint="panda_finger_joint2"/>
           <jointvel name="fr_arm_jv1" joint="panda_joint1"/>
           <jointvel name="fr_arm_jv2" joint="panda_joint2"/>
           <jointvel name="fr_arm_jv3" joint="panda_joint3"/>
           <jointvel name="fr_arm_jv4" joint="panda_joint4"/>
           <jointvel name="fr_arm_jv5" joint="panda_joint5"/>
           <jointvel name="fr_arm_jv6" joint="panda_joint6"/>
           <jointvel name="fr_arm_jv7" joint="panda_joint7"/>
           <jointvel name="fr_fin_jv1" joint="panda_finger_joint1"/>
           <jointvel name="fr_fin_jv2" joint="panda_finger_joint2"/>
       </sensor>
    
    
    
</mujoco>
