<mujoco>

    <equality>
        <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
<!--        <weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.05 0.95 0.3 0.5 2" solref="0.02 1"></weld>-->
    </equality>
    
    <contact>
<!--        <exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>-->
        <exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude>
        <exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
    </contact>
    
    <default>
        <default class="robot0:fetch">
            <geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
            <joint armature="1" damping="50" frictionloss="0" stiffness="0"></joint>
            
            <default class="robot0:fetchGripper">
                <geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom>
                <joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"></joint>
            </default>

            <default class="robot0:grey">
                <geom rgba="0.356 0.361 0.376 1.0"></geom>
            </default>
            <default class="robot0:blue">
                <geom rgba="0.086 0.506 0.767 1.0"></geom>
            </default>
        </default>
    </default>



    <default>
        <default class="robot0:asset_class">
            <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
            <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
            <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
            <general ctrllimited="true" forcelimited="true"></general>
        </default>
        <default class="robot0:D_Touch">
            <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
        </default>
        <default class="robot0:DC_Hand">
            <geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom>
        </default>
        <default class="robot0:D_Vizual">
            <geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
        </default>
        <default class="robot0:free">
            <joint type="free" damping="0" armature="0" limited="false"></joint>
        </default>
    </default>

    <contact>
        <pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair>
        <pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair>
        <pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
        <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
        <pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair>
        <pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair>
        <pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair>
        <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
        <pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
        <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair>
        <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair>
        <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair>
    </contact>

<!--    <tendon>-->
<!--        <fixed name="robot0:T_FFJ3r" limited="true" range="-0.018 0.018" user="1204">-->
<!--            <joint joint="robot0:FFJ3" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ3l" limited="true" range="-0.018 0.018" user="1205">-->
<!--            <joint joint="robot0:FFJ3" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ2u" limited="true" range="-0.007 0.03" user="1202">-->
<!--            <joint joint="robot0:FFJ2" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ2d" limited="true" range="-0.03 0.007" user="1203">-->
<!--            <joint joint="robot0:FFJ2" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001">-->
<!--            <joint joint="robot0:FFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:FFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ1u" limited="true" range="-0.007 0.03" user="1200">-->
<!--            <joint joint="robot0:FFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:FFJ1" coef="0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_FFJ1d" limited="true" range="-0.03 0.007" user="1201">-->
<!--            <joint joint="robot0:FFJ0" coef="-0.00705"></joint>-->
<!--            <joint joint="robot0:FFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ3r" limited="true" range="-0.018 0.018" user="1210">-->
<!--            <joint joint="robot0:MFJ3" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ3l" limited="true" range="-0.018 0.018" user="1211">-->
<!--            <joint joint="robot0:MFJ3" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ2u" limited="true" range="-0.007 0.03" user="1208">-->
<!--            <joint joint="robot0:MFJ2" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ2d" limited="true" range="-0.03 0.007" user="1209">-->
<!--            <joint joint="robot0:MFJ2" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001">-->
<!--            <joint joint="robot0:MFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:MFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ1u" limited="true" range="-0.007 0.03" user="1206">-->
<!--            <joint joint="robot0:MFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:MFJ1" coef="0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_MFJ1d" limited="true" range="-0.03 0.007" user="1207">-->
<!--            <joint joint="robot0:MFJ0" coef="-0.00705"></joint>-->
<!--            <joint joint="robot0:MFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ3r" limited="true" range="-0.018 0.018" user="1216">-->
<!--            <joint joint="robot0:RFJ3" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ3l" limited="true" range="-0.018 0.018" user="1217">-->
<!--            <joint joint="robot0:RFJ3" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ2u" limited="true" range="-0.007 0.03" user="1214">-->
<!--            <joint joint="robot0:RFJ2" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ2d" limited="true" range="-0.03 0.007" user="1215">-->
<!--            <joint joint="robot0:RFJ2" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001">-->
<!--            <joint joint="robot0:RFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:RFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ1u" limited="true" range="-0.007 0.03" user="1212">-->
<!--            <joint joint="robot0:RFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:RFJ1" coef="0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_RFJ1d" limited="true" range="-0.03 0.007" user="1213">-->
<!--            <joint joint="robot0:RFJ0" coef="-0.00705"></joint>-->
<!--            <joint joint="robot0:RFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ4u" limited="true" range="-0.007 0.03" user="1224">-->
<!--            <joint joint="robot0:LFJ4" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ4d" limited="true" range="-0.03 0.007" user="1225">-->
<!--            <joint joint="robot0:LFJ4" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ3r" limited="true" range="-0.018 0.018" user="1222">-->
<!--            <joint joint="robot0:LFJ3" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ3l" limited="true" range="-0.018 0.018" user="1223">-->
<!--            <joint joint="robot0:LFJ3" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ2u" limited="true" range="-0.007 0.03" user="1220">-->
<!--            <joint joint="robot0:LFJ2" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ2d" limited="true" range="-0.03 0.007" user="1221">-->
<!--            <joint joint="robot0:LFJ2" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001">-->
<!--            <joint joint="robot0:LFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:LFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ1u" limited="true" range="-0.007 0.03" user="1218">-->
<!--            <joint joint="robot0:LFJ0" coef="0.00705"></joint>-->
<!--            <joint joint="robot0:LFJ1" coef="0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_LFJ1d" limited="true" range="-0.03 0.007" user="1219">-->
<!--            <joint joint="robot0:LFJ0" coef="-0.00705"></joint>-->
<!--            <joint joint="robot0:LFJ1" coef="-0.00805"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ4a" limited="true" range="-0.018 0.018" user="1234">-->
<!--            <joint joint="robot0:THJ4" coef="0.01636"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ4c" limited="true" range="-0.018 0.018" user="1235">-->
<!--            <joint joint="robot0:THJ4" coef="-0.01636"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ3u" limited="true" range="-0.007 0.03" user="1232">-->
<!--            <joint joint="robot0:THJ3" coef="0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ3d" limited="true" range="-0.03 0.007" user="1233">-->
<!--            <joint joint="robot0:THJ3" coef="-0.01"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ2u" limited="true" range="-0.018 0.018" user="1230">-->
<!--            <joint joint="robot0:THJ2" coef="0.011"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ2d" limited="true" range="-0.018 0.018" user="1231">-->
<!--            <joint joint="robot0:THJ2" coef="-0.011"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ1r" limited="true" range="-0.018 0.018" user="1228">-->
<!--            <joint joint="robot0:THJ1" coef="0.011"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ1l" limited="true" range="-0.018 0.018" user="1229">-->
<!--            <joint joint="robot0:THJ1" coef="-0.011"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ0r" limited="true" range="-0.03 0.007" user="1226">-->
<!--            <joint joint="robot0:THJ0" coef="0.009"></joint>-->
<!--        </fixed>-->
<!--        <fixed name="robot0:T_THJ0l" limited="true" range="-0.007 0.03" user="1227">-->
<!--            <joint joint="robot0:THJ0" coef="-0.009"></joint>-->
<!--        </fixed>-->
<!--    </tendon>-->

<!--    <sensor>-->
<!--        <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos>-->
<!--        <jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos>-->
<!--        <touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch>-->
<!--        <touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch>-->
<!--        <touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch>-->
<!--        <touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch>-->
<!--        <touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch>-->
<!--    </sensor>-->

<!--    <actuator>-->
<!--        <position name="robot0:A_WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>-->
<!--        <position name="robot0:A_WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>-->
<!--        <position name="robot0:A_FFJ3" class="robot0:asset_class" user="2004" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_FFJ2" class="robot0:asset_class" user="2002" joint="robot0:FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_FFJ1" class="robot0:asset_class" user="2000" joint="robot0:FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>-->
<!--        <position name="robot0:A_MFJ3" class="robot0:asset_class" user="2010" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_MFJ2" class="robot0:asset_class" user="2008" joint="robot0:MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_MFJ1" class="robot0:asset_class" user="2006" joint="robot0:MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>-->
<!--        <position name="robot0:A_RFJ3" class="robot0:asset_class" user="2016" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_RFJ2" class="robot0:asset_class" user="2014" joint="robot0:RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_RFJ1" class="robot0:asset_class" user="2012" joint="robot0:RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>-->
<!--        <position name="robot0:A_LFJ4" class="robot0:asset_class" user="2024" joint="robot0:LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_LFJ3" class="robot0:asset_class" user="2022" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_LFJ2" class="robot0:asset_class" user="2020" joint="robot0:LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>-->
<!--        <position name="robot0:A_LFJ1" class="robot0:asset_class" user="2018" joint="robot0:LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>-->
<!--        <position name="robot0:A_THJ4" class="robot0:asset_class" user="2034" joint="robot0:THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>-->
<!--        <position name="robot0:A_THJ3" class="robot0:asset_class" user="2032" joint="robot0:THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>-->
<!--        <position name="robot0:A_THJ2" class="robot0:asset_class" user="2030" joint="robot0:THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>-->
<!--        <position name="robot0:A_THJ1" class="robot0:asset_class" user="2028" joint="robot0:THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>-->
<!--        <position name="robot0:A_THJ0" class="robot0:asset_class" user="2026" joint="robot0:THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>-->
<!--    </actuator>-->

</mujoco>
