<mujoco model="blue_wrist">
    <compiler angle="radian" meshdir="../../robot/meshes_blue_v1/" strippath="false"/>
    <option gravity="0 0 0"/>
    <asset> 
        <mesh name="wrist_roll_link" file="hand_base_link.STL" />
        <mesh name="rightfingerlimb_link" file="finger_limb_link.STL"/>
        <mesh name="leftfingerlimb_link" file="finger_limb_link.STL"/>
        <mesh name="rightfingertip_link" file="finger_tip_link.STL"/>
        <mesh name="leftfingertip_link" file="finger_tip_link.STL"/>
        <texture builtin="flat" height="32" name="plastic" type="2d" width="32"/>
        <texture builtin="flat" height="32" name="metal" type="2d" width="32"/>
        <material name="Plastic" shininess="0.3" specular="0.3" texture="plastic"/>
    </asset>
    <worldbody>
            <body name="robotwrist_rolllink" pos="1.0 0 1.2" euler="0 0 0">
                <camera fovy="60" mode="fixed" name="robot_camera1" pos="-0.05 -0.05 0.05" euler="1.57 1.57 0"/>
                <camera fovy="60" mode="fixed" name="robot_camera2" pos="-0.05 0.05 0.05" euler="1.57 1.57 0"/>
                <inertial pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" quat="0.999999 0.000484212 -0.00134643 -0.000743041" mass="0.657109755986862" fullinertia="0.0057866591250737 0.00530223654324281 0.00342399181200673 3.71515699629511e-07 -6.32890111626103e-05 8.9999884666805e-07" />
                <geom name="link" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wrist_roll_link" contype="16" conaffinity="7" euler="0 1.57 0" />
                <joint name="wrist_x_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="1 0 0" limited="true" range="-3.0 3.0" />
                <joint name="wrist_y_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 1 0" limited="true" range="-3.0 3.0" />
                <joint name="wrist_z_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 0 1" limited="true" range="-3.0 3.0" />
                <joint name="wrist_z_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 0 1" limited="true" range="-1.57 1.57" />
                <joint name="wrist_y_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 1 0" limited="true" range="-1.57 1.57" />
                <joint name="wrist_x_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="1 0 0" limited="true" range="0 3.13" />
                <body name="gripper" pos="0 0 0" euler="0 1.57 0" >
                    <body name="robotfinger_actuator_inertia" pos="0 0 -0.10" euler="0 0 0" >
                        <inertial pos="-0.052367118189184 2.51271935254316e-05 -7.00549073506807e-05" quat="1 0 0 0" mass="0.0047109755986862" fullinertia="0.000916887873826385 0.000877268801166351 0.000293333065172452 -6.04547948818479e-08 0.6796133363069e-06 0.64172907801915e-07"/>
                        <joint name="robotfinger_actuator_joint" pos="-0.052367118189184 2.51271935254316e-05 -7.00549073506807e-05" axis="1 0 0" limited="true" range="0 1.05" />
                    </body>
                    <body name="robotfingerlimb_rightlink" pos="0.000 0.030703 -0.071979" quat="0.63 -0.321 -0.63 0.321">
                        <inertial pos="0.00046733152633803 0.0122666320844707 1.16452530510985E-07" quat="1.0 0 0 0" mass="0.0384620979765985" fullinertia="1.93716279065148E-05 5.23390911087335E-06 1.92560542157392E-05 -1.74835869619804E-06 3.21020594362941E-11 -5.04535602261134E-11"/>
                        <geom name="fingerright1" type="mesh" material="Plastic" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" mesh="rightfingerlimb_link"  contype="16" conaffinity="7" />
                        <joint name="right_fingerlimb_joint" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.05" />
                        <body name="robotfingertip_rightlink" pos="0 0.06 0" quat="0.222 0.222 -0.672 -0.672">
                            <inertial pos="0.000428096363398578 -6.3962924111774E-08 0.0162809660053768" quat="1.0 0 0 0" mass="0.0096424502794395" fullinertia="1.76146900164229E-06 1.95368501856251E-06 6.78506827465793E-07 -1.63725174281941E-11 -5.09403577370148E-07 -2.7403586363238E-12"/>
                            <geom name="fingerright2" type="mesh" material="Plastic" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" mesh="rightfingertip_link"  contype="1" conaffinity="1" />
                            <joint name="right_fingertip_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.05 0" />
                        </body>
                    </body>
                    <body name="robotfingerlimb_leftlink" pos="0.000 -0.030703 -0.071979" quat="0.321 -0.63 0.321 -0.63">
                        <inertial pos="0.00046733152633803 0.0122666320844707 1.16452530510985E-07" quat="1.0 0 0 0" mass="0.0384620979765985" fullinertia="1.93716279065148E-05 5.23390911087335E-06 1.92560542157392E-05 -1.74835869619804E-06 3.21020594362941E-11 -5.04535602261134E-11"/>
                        <geom name="fingerleft1" type="mesh" material="Plastic" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" mesh="leftfingerlimb_link"  contype="16" conaffinity="7" />
                        <joint name="left_fingerlimb_joint" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.05" />
                        <body name="robotfingertip_leftlink" pos="0 0.06 0" quat="0.222 0.222 -0.672 -0.672">
                            <inertial pos="0.000428096363398578 -6.3962924111774E-08 0.0162809660053768" quat="1.0 0 0 0" mass="0.0096424502794395" fullinertia="1.76146900164229E-06 1.95368501856251E-06 6.78506827465793E-07 -1.63725174281941E-11 -5.09403577370148E-07 -2.7403586363238E-12"/>
                            <geom name="fingerleft2" type="mesh" material="Plastic" rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" mesh="leftfingertip_link"  contype="1" conaffinity="1" />
                            <joint name="left_fingertip_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.05 0" />
                        </body>
                    </body>
                </body>
            </body>                

    </worldbody>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_x_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_y_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_z_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_z_hinge_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_y_hinge_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_x_hinge_joint" />
        <position ctrllimited="true" ctrlrange="0 1.05" gear="1.0" joint="robotfinger_actuator_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="0 1.4" joint="right_fingerlimb_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="-1.4 0" joint="right_fingertip_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="0 1.4" joint="left_fingerlimb_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="-1.4 0" joint="left_fingertip_joint" />        
	</actuator>
</mujoco>
