<mujoco model="panda">
 <compiler angle="radian" discardvisual="false" meshdir="../meshes_panda/for_mujoco/"/>
 <option collision="all" cone="elliptic" gravity="0 0 -9.81" impratio="3" solver="Newton" timestep="0.001"
         tolerance="1e-10"></option>
 <size nconmax="2000" njmax="2000"/>
 <asset>
  <mesh file="link0v.stl" name="link0v"/>
  <mesh file="link1v.stl" name="link1v"/>
  <mesh file="link2v.stl" name="link2v"/>
  <mesh file="link3v.stl" name="link3v"/>
  <mesh file="link4v.stl" name="link4v"/>
  <mesh file="link5v.stl" name="link5v"/>
  <mesh file="link6v.stl" name="link6v"/>
  <mesh file="link7v.stl" name="link7v"/>
  <mesh file="handv.stl" name="handv"/>
  <mesh file="fingerv.stl" name="fingerv"/>
  <texture builtin="gradient" height="32" rgb1="0.26 0.58 0.51" rgb2="0.26 0.58 0.51" type="skybox" width="32"/>
 </asset>
 <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>
 <visual>
  <map zfar="1000" znear="0.001"/>
 </visual>
 <worldbody>
  <light castshadow="true" cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3"
         specular=".1 .1 .1"/>
  <body name="ground" pos="0 0 -0.94">
   <geom name="ground:geom1" rgba="0.26 0.58 0.51 1" size="0 0 1" type="plane"/>
  </body>
  <body name="panda_link0" pos="0 0 0">
   <inertial diaginertia="0.0126801 0.0117603 0.00856656" mass="3.01399" pos="-0.0291898 -0.000879465 0.0566032"
             quat="0.00411744 0.564916 0.0132875 0.825031"/>
   <geom conaffinity="0" contype="0" group="1" mesh="link0v" name="panda_link0:geom1" rgba="1 1 1 1" type="mesh"/>
   <geom mesh="link0v" name="panda_link0:geom2" rgba="1 1 1 1" type="mesh"/>
   <body name="panda_link1" pos="0 0 0.333">
    <inertial diaginertia="0.0164224 0.0153969 0.00546286" mass="2.77281" pos="1.1399e-05 -0.0312655 -0.0693733"
              quat="0.98466 0.174481 -0.000101815 0.000347662"/>
    <joint axis="0 0 1" limited="true" name="panda_joint1" pos="0 0 0" range="-2.9671 2.9671"/>
    <geom conaffinity="0" contype="0" group="1" mesh="link1v" name="panda_joint1:geom1" rgba="1 1 1 1" type="mesh"/>
    <geom mesh="link1v" name="panda_joint1:geom2" rgba="1 1 1 1" type="mesh"/>
    <body name="panda_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
     <inertial diaginertia="0.016787 0.0157415 0.00553027" mass="2.7996" pos="-1.31766e-05 -0.0703216 0.0311782"
               quat="0.57484 0.818266 -6.05764e-05 -6.61626e-05"/>
     <joint axis="0 0 1" limited="true" name="panda_joint2" pos="0 0 0" range="-1.8326
                    1.8326"/>
     <geom conaffinity="0" contype="0" group="1" mesh="link2v" name="panda_joint2:geom1" rgba="1 1 1 1" type="mesh"/>
     <geom mesh="link2v" name="panda_joint2:geom2" rgba="1 1 1 1" type="mesh"/>
     <body name="panda_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
      <inertial diaginertia="0.00915257 0.00896477 0.00384742" mass="2.14603" pos="0.0443483 0.0249283 -0.03813"
                quat="0.0615263 0.349824 0.234291 0.904956"/>
      <joint axis="0 0 1" limited="true" name="panda_joint3" pos="0 0 0" range="-2.9671 2.9671"/>
      <geom conaffinity="0" contype="0" group="1" mesh="link3v" name="panda_joint3:geom1" rgba="1 1 1 1" type="mesh"/>
      <geom mesh="link3v" name="panda_joint3:geom2" rgba="1 1 1 1" type="mesh"/>
      <body name="panda_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
       <inertial diaginertia="0.00946899 0.00928491 0.00396694" mass="2.18807" pos="-0.0385503 0.0395256 0.0247162"
                 quat="0.813566 0.465041 0.309792 0.160858"/>
       <joint axis="0 0 1" limited="true" name="panda_joint4" pos="0 0 0" range="-3.1416 0.0873"/>
       <geom conaffinity="0" contype="0" group="1" mesh="link4v" name="panda_link4:geom1" rgba="1 1 1 1" type="mesh"/>
       <geom mesh="link4v" name="panda_link4:geom2" rgba="1 1 1 1" type="mesh"/>
       <body name="panda_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
        <inertial diaginertia="0.0278873 0.0268823 0.00569569" mass="3.19545" pos="-6.36776e-05 0.0384124 -0.10997"
                  quat="0.990767 -0.135571 0.000963106 0.000694406"/>
        <joint axis="0 0 1" limited="true" name="panda_joint5" pos="0 0 0" range="-2.9671 2.9671"/>
        <geom conaffinity="0" contype="0" group="1" mesh="link5v" name="panda_link5:geom1" rgba="1 1 1 1" type="mesh"/>
        <geom mesh="link5v" name="panda_link5:geom2" rgba="1 1 1 1" type="mesh"/>
        <body name="panda_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
         <inertial diaginertia="0.00412168 0.0033698 0.00213304" mass="1.35761" pos="0.0510023 0.00693267 0.00616899"
                   quat="-0.0460841 0.754362 0.044494 0.653325"/>
         <joint axis="0 0 1" limited="true" name="panda_joint6" pos="0 0 0" range="-0.0873 3.8223"/>
         <geom conaffinity="0" contype="0" group="1" mesh="link6v" name="panda_link6:geom1" rgba="1 1 1 1" type="mesh"/>
         <geom mesh="link6v" name="panda_link6:geom2" rgba="1 1 1 1" type="mesh"/>
         <body name="panda_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
          <inertial diaginertia="0.000637671 0.000528056 0.000279577" mass="0.417345"
                    pos="0.0103614 0.0103596 0.0791078" quat="0.63547 0.278021 -0.670462 0.263369"/>
          <joint axis="0 0 1" limited="true" name="panda_joint7" pos="0 0 0" range="-2.9671 2.9671"/>
          <geom conaffinity="0" contype="0" group="1" mesh="link7v" name="panda_link7:geom1" rgba="1 1 1 1"
                type="mesh"/>
          <geom mesh="link7v" name="panda_link7:geom2" rgba="1 1 1 1" solimp="1.998 1.999 0" type="mesh"/>
          <body name="panda_link8" pos="0 0 0.107">
           <inertial diaginertia="0.1 0.1 0.1" mass="0.1" pos="0 0 0"/>
           <body name="panda_hand" pos="0 0 0" quat="0.92388 0 0 -0.382683">
            <inertial diaginertia="0.00227632 0.00206087 0.000456542" mass="0.670782"
                      pos="-2.76618e-06 -0.00061547 0.0239295" quat="0.697945 0.716151 -0.000242485 8.47563e-05"/>
            <geom conaffinity="0" contype="0" group="1" mesh="handv" name="panda_hand:geom1" type="mesh"/>
            <geom mesh="handv" name="panda_hand:geom2" solimp="1.998 1.999 0" type="mesh"/>
            <camera euler="0 3.14 0" fovy="60" ipd="0.0" mode="fixed" name="rgbd" pos="0.1 0.0 0."/>
            <body name="tcp" pos="0 0 0.105">
             <site name="tcp" rgba="'0 0 1 0'" size='0.001'/>
            </body>
            <body childclass="panda:gripper" name="panda_leftfinger" pos="0 0 0.0584">
             <inertial diaginertia="5.69661e-06 5.56035e-06 1.55183e-06" mass="0.0218754"
                       pos="-2.42335e-05 0.0119585 0.0237816" quat="0.996177 0.0868631 -2.79377e-05 -0.00926642"/>
             <joint axis="0 1 0" name="panda_finger_joint1"/>
             <geom conaffinity="0" contype="0" group="1" mesh="fingerv" name="panda_leftfinger:geom1" type="mesh"/>
             <geom mesh="fingerv" name="panda_leftfinger:geom2" type="mesh"/>
             <site name="panda_leftfinger:site" pos="0 0.012 0.045" rgba="0 0 1 0" size="0.012 0.015 0.012" type="box"/>
             <body name="finger_joint1_tip" pos="0 0.0085 0.056">
              <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1"/>
              <geom conaffinity="1" condim="4" contype="1" friction="2 0.05 0.0001" name="finger1_tip_collision"
                    pos="0 -0.005 -0.012" quat="0 0 0 1" rgba="1 0 0 1" size="0.008 0.004 0.008" solref="0.01 0.5"
                    type="box"/>
             </body>
            </body>
            <body childclass="panda:gripper" name="panda_rightfinger" pos="0 0 0.0584">
             <inertial diaginertia="5.69661e-06 5.56035e-06 1.55183e-06" mass="0.0218754"
                       pos="2.42335e-05 -0.0119585 0.0237816" quat="0.996177 -0.0868631 2.79377e-05 -0.00926642"/>
             <joint axis="0 -1 0" name="panda_finger_joint2"/>
             <site name="panda_rightfinger:site" pos="0 -0.012 0.045" rgba="0 0 1 0" size="0.012 0.015 0.012"
                   type="box"/>
             <geom conaffinity="0" contype="0" group="1" mesh="fingerv" name="panda_rightfinger:geom1" quat="0 0 0 1"
                   type="mesh"/>
             <geom condim="4" mesh="fingerv" name="panda_rightfinger:geom2" quat="0 0 0 1" type="mesh"/>
             <body name="finger_joint2_tip" pos="0 -0.0085 0.056">
              <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1"/>
              <geom conaffinity="1" condim="4" contype="1" friction="2 0.05 0.0001" name="finger2_tip_collision"
                    pos="0 0.005 -0.012" quat="0 0 0 1" rgba="1 0 0 1" size="0.008 0.004 0.008" solref="0.01 0.5"
                    type="box"/>
             </body>
            </body>
           </body>
          </body>
         </body>
        </body>
       </body>
      </body>
     </body>
    </body>
   </body>
  </body>
  <camera euler="0 0 0" fovy="45" ipd="0.0" mode="fixed" name="rgbd_cage" pos="0.7 0.1 0.9"/>
 </worldbody>
 <sensor>
  <touch name="touchsensor:left" site="panda_leftfinger:site"/>
  <touch name="touchsensor:right" site="panda_rightfinger:site"/>
 </sensor>
 <default>
  <default class="panda:gripper">

   <geom condim="4" friction="1 0.005 0.0001" margin="0.001" solimp="0.998 0.999 0.001" solref="0.02 1" type="box"/>
   <joint damping="10" limited="true" range="0 0.04" type="slide"/>
  </default>
 </default>
  <include file="../assets/panda_frame.xml"/>
</mujoco>
