<mujoco model="jaco_three_finger_hand">
    <asset>
        <mesh name="hand_3finger" file="meshes/jaco_three_finger_gripper/hand_3finger.stl" />
        <mesh name="finger_proximal" file="meshes/jaco_three_finger_gripper/finger_proximal.stl" />
        <mesh name="finger_distal" file="meshes/jaco_three_finger_gripper/finger_distal.stl" />
        <mesh name="ring_small" file="meshes/jaco_three_finger_gripper/ring_small.stl" />
        <!-- Materials for hand -->
        <material name="carbon_hand" specular="1" shininess="1" reflectance="1" rgba="0.05 0.05 0.05 1" emission="1" />
        <material name="grey_plastic_hand" specular="0.5" shininess="0" reflectance="0" rgba="0.12 0.14 0.14 1" emission="1" />
    </asset>


    <tendon>
		<!--Middlefinger tendons-->
		<fixed name="thumb_cpl" range="-5 5" stiffness="3.0" springlength="0.2" frictionloss="0.4">
			<joint joint="joint_thumb"  coef="0.4"/>
			<joint joint="joint_thumb_distal"  coef="-0.4"/>
		</fixed>

		<!--finger2 tendons-->
        <fixed name="index_12_cpl" range="-5 5" stiffness="3.0" springlength="0.2" frictionloss="0.4">
			<joint joint="joint_index"  coef="0.4"/>
			<joint joint="joint_index_distal"  coef="-0.4"/>
		</fixed>

		<!--Finger1 tendons-->
        <fixed name="pinky_12_cpl" range="-5 5" stiffness="3.0" springlength="0.2" frictionloss="0.4">
			<joint joint="joint_pinky"  coef="0.4"/>
			<joint joint="joint_pinky_distal"  coef="-0.4"/>
		</fixed>
	</tendon>

    <equality>
		<!-- GRIPPER Couplings -->
		<tendon name="thumb_cpl" 	tendon1="thumb_cpl"/>

        <tendon name="index_12_cpl" 	tendon1="index_12_cpl"/>

        <tendon name="pinky_12_cpl" 	tendon1="pinky_12_cpl"/>
	</equality>

    <actuator>
        <position name='thumb' ctrllimited="true" kp="20" joint='joint_thumb' ctrlrange='0 1.51' forcelimited="true" forcerange="-0.3 0.3" />
        <position name='index' ctrllimited="true" kp="20" joint='joint_index' ctrlrange='0 1.51' forcelimited="true" forcerange="-0.3 0.3" />
        <position name='pinky'  ctrllimited="true" kp="20" joint='joint_pinky' ctrlrange='0 1.51' forcelimited="true" forcerange="-0.3 0.3" />
    </actuator>

    <worldbody>
        <!-- Note: This model is a tendon-driven variation of the model found at https://github.com/abr/abr_control/blob/master/abr_control/arms/jaco2/jaco2.xml -->
        <body name="right_gripper" pos="0 0 0">
            <inertial pos="0 0 0" mass="1e-6" diaginertia="1e-08 1e-08 1e-08" />
            <body name="palm" pos="0 0 0" quat="0 -1 0 0">
                <inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_hand" mesh="hand_3finger" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_hand" mesh="ring_small" />
                <geom type="mesh" material="carbon_hand" mesh="hand_3finger" name="hand_collision"/>

                <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />

                <!-- This site was added for visualization. -->
                <site name="grip_site" pos="0 0 -0.1775" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
                <!-- This site was added for visualization. -->
                <site name="grip_site_cylinder" pos="0 0 0.1399" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
            </body>

            <body name="thumb_proximal" pos="0.002786 -0.03126 0.114668" quat="0.95922726  0.262085 0.02762996 -0.10213274">
                <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                <joint name="joint_thumb" pos="0 0 0" axis="1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_proximal" />
                <geom name="thumb_proximal_collision" type="mesh" mesh="finger_proximal" euler="0 -1.5707 0" friction="1 0.5 0.01" />

                <body name="thumb_distal" pos="0 -0.003 0.044">
                    <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                    <joint name="joint_thumb_distal" pos="0 0 0" axis="-1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_distal" />
                    <geom name="thumb_distal_collision" type="mesh" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
                    <geom type="box" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                </body>
            </body>

            <body name="index_proximal" pos="0.022256 0.027073 0.114668" quat="0.96181018 -0.25771638 0.0238668 -0.08907205">
                <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                <joint name="joint_index" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
                <geom name="index_proximal_collision" type="mesh" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />

                <body name="index_distal" pos="0 0.003 0.044">
                    <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                    <joint name="joint_index_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                    <geom name="index_distal_collision" type="mesh" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
                    <geom type="box" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                </body>
            </body>

            <body name="pinky_proximal" pos="-0.022256 0.027073 0.114816" quat="0.96181018 -0.25771638 -0.0238668 0.08907205">
                <joint name="joint_pinky" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
                <geom name="pinky_proximal_collision" type="mesh" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />

                <body name="pinky_distal" pos="0 0.003 0.044">
                    <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                    <joint name="joint_pinky_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                    <geom name="pinky_distal_collision" type="mesh" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
                    <geom type="box" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                </body>
            </body>
        </body>
    </worldbody>

    <sensor>
        <force name="force_ee" site="ft_frame"/>
        <torque name="torque_ee" site="ft_frame"/>
    </sensor>
</mujoco>
