<mujoco model="hdt_angler">
	<compiler angle="radian" coordinate="local" meshdir="./meshes/" texturedir="./textures"></compiler>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
	</default>
	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>

	<worldbody>
		<body name="base_link" pos="0. 0. 0.25">
			<geom type="mesh" mesh="H026994 - A35 M-2 PEDESTAL ASSY - SHAREABLE" />
			<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H026994 - A35 M-2 PEDESTAL ASSY - SHAREABLE" />
			<body name="drive1_link" pos="0 0 0.08335" quat="0.707107 0 0 -0.707107">
				<inertial pos="0 0 0" mass="1" diaginertia="0.005 0.005 0.005" />
				<joint name="hdt_drive1_joint" pos="0 0 0" axis="0 0 1" type="hinge" limited="true" range="-6.28319 6.28319" damping="150" />
				<geom type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
				<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
				<body name="drive2_link" pos="0.07155 0 0" quat="0.707107 0 -0.707107 0">
					<inertial pos="0.17855 0 0" quat="0.5 0.5 0.5 0.5" mass="3" diaginertia="0.0787602 0.0787602 0.015" />
					<joint name="hdt_drive2_joint" pos="0 0 0" axis="0 0 1" type="hinge" limited="true" range="-1.5708 1.5708" damping="150" />
					<geom quat="0 1 0 0" type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
					<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
					<geom pos="0.17855 0 0" type="mesh" mesh="H024847 - A35 M-2 PROXIMAL TUBE ASSY - SHAREABLE" />
					<geom pos="0.17855 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024847 - A35 M-2 PROXIMAL TUBE ASSY - SHAREABLE" />
					<geom pos="0.3571 0 0" quat="0 0 1 0" type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
					<geom pos="0.3571 0 0" quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
					<body name="drive3_link" pos="0.3571 0 0.07155">
						<inertial pos="0 0 0" quat="0.5 0.5 0.5 -0.5" mass="1" diaginertia="0.005 0.005 0.005" />
						<joint name="hdt_drive3_joint" pos="0 0 0" axis="0 0 1" type="hinge" limited="true" range="-4.49 1.35" damping="150" />
						<geom quat="0.5 0.5 0.5 -0.5" type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
						<geom quat="0.5 0.5 0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
						<body name="drive4_link" pos="0 0.142 0" quat="0.707107 -0.707107 0 0">
							<inertial pos="0 0 0.064775" mass="2" diaginertia="0.0183916 0.0183916 0.01" />
							<joint name="hdt_drive4_joint" pos="0 0 0" axis="0 0 1" type="hinge" limited="true" range="-6.28319 6.28319" damping="70" />
							<geom quat="0 1 0 0" type="mesh" mesh="H024848 - A35 M-2 DISTAL TUBE ASSY - SHAREABLE" />
							<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024848 - A35 M-2 DISTAL TUBE ASSY - SHAREABLE" />
							<geom pos="0 0 0.12955" quat="-0.5 0.5 -0.5 -0.5" type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
							<geom pos="0 0 0.12955" quat="-0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
							<body name="drive5_link" pos="0 -0.07155 0.12955" quat="-0.5 -0.5 0.5 -0.5">
								<inertial pos="0 0 0" mass="1" diaginertia="0.005 0.005 0.005" />
								<joint name="hdt_drive5_joint" pos="0 0 0" axis="0 0 1" type="hinge" limited="true" range="-6.28319 6.28319" damping="70" />
								<geom quat="0 -0.707107 0 0.707107" type="mesh" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
								<geom quat="0 -0.707107 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" />
								<body name="drive6_link" pos="0.0885 0 0" quat="0.707107 0 0.707107 0">
									<inertial pos="0 0 0" mass="1" diaginertia="0.005 0.005 0.005" />
									<joint name="hdt_drive6_joint" pos="0 0 0" axis="0 0 1" limited="true" type="hinge" range="-6.28319 6.28319" damping="70" />
									<geom quat="0.5 0.5 0.5 -0.5" type="mesh" mesh="H024842 - A35 M-2 PINCER ASSY - SHAREABLE, UNDERWATER" />
									<geom quat="0.5 0.5 0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.784314 0.784314 0.784314 1" mesh="H024842 - A35 M-2 PINCER ASSY - SHAREABLE, UNDERWATER" />
									
									<body name="ee_link" pos="0 0 0.1" quat="0.5 0.5 -0.5 0.5">
										<geom size="0.001 0.001 0.001" type="box" mass="1"></geom>
										<site name="r_grip_site" pos="0.0 0. 0." size="0.03" rgba="0 0 1 0.5" type="sphere" group="1"/>
									</body>
								</body>
							</body>
						</body>
					</body>
				</body>
			</body>
		</body>
	</worldbody>

    <actuator>
		<motor ctrllimited="true" ctrlrange="-2.0000 2.0000" joint="hdt_drive1_joint" gear="20"/>
		<motor ctrllimited="true" ctrlrange="-1.5708 1.5708" joint="hdt_drive2_joint" gear="20"/>
		<motor ctrllimited="true" ctrlrange="-3.0708 1.2708" joint="hdt_drive3_joint" gear="20"/>
		<motor ctrllimited="true" ctrlrange="-2.5708 2.5708" joint="hdt_drive4_joint" gear="20"/>
		<motor ctrllimited="true" ctrlrange="-1.5708 1.5708" joint="hdt_drive5_joint" gear="20"/>
		<motor ctrllimited="true" ctrlrange="-1.5708 2.5708" joint="hdt_drive6_joint" gear="20"/> 
	  </actuator> 

	  <asset>

        <mesh name="H026994 - A35 M-2 PEDESTAL ASSY - SHAREABLE" file="H026994 - A35 M-2 PEDESTAL ASSY - SHAREABLE.STL" />
        <mesh name="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE" file="H024840 - A35 M-2 DRIVE MODULE, SHAREABLE.STL" />
        <mesh name="H024847 - A35 M-2 PROXIMAL TUBE ASSY - SHAREABLE" file="H024847 - A35 M-2 PROXIMAL TUBE ASSY - SHAREABLE.STL" />
        <mesh name="H024848 - A35 M-2 DISTAL TUBE ASSY - SHAREABLE" file="H024848 - A35 M-2 DISTAL TUBE ASSY - SHAREABLE.STL" />
        <mesh name="H024842 - A35 M-2 PINCER ASSY - SHAREABLE, UNDERWATER" file="H024842 - A35 M-2 PINCER ASSY - SHAREABLE, UNDERWATER.STL" />
        <mesh name="H022927 - A35 PINCER FINGER, LONG, OVERMOLD ASSY - SHAREABLE" file="H022927 - A35 PINCER FINGER, LONG, OVERMOLD ASSY - SHAREABLE.STL" />

    </asset>

</mujoco>