<mujoco model="bulldog_robot">
    <compiler angle="radian" meshdir="../stls/bulldog" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="base" file="base.stl" />
        <mesh name="shoulder" file="shoulder.stl" />
        <mesh name="upperarm" file="upperarm.stl" />
        <mesh name="forearm" file="forearm.stl" />
        <mesh name="wrist1" file="wrist1.stl" />
        <mesh name="wrist2" file="wrist2.stl" />
        <mesh name="wrist3" file="wrist3.stl" />
        <mesh name="collision_palm" file="collision_palm.STL" />
        <mesh name="collision_link_0" file="collision_link_0.STL" />
        <mesh name="collision_link_1" file="collision_link_1.STL" />
        <mesh name="collision_link_2" file="collision_link_2.STL" />
        <mesh name="collision_link_3" file="collision_link_3.STL" />
        <mesh name="sick-lms1xx" file="sick-lms1xx.stl" />
        <mesh name="kinect2" file="kinect2.STL" />
        <mesh name="cover_plate" file="cover_plate.STL" />

        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
            rgb2="0 0 0"/>
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
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        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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        <material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name='geom' texture="texgeom" texuniform="true"/>
        <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"/>
        <material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="1 0 0 1"/>
    </asset>
    <worldbody>
         <geom name='floor' pos='0 0 -0.15' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
         <body pos="1.3 0 0" name="table0">
	<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
         </body>
		
        <body name="object0" pos="1.3 0 0.3">
	<joint name="object0:joint" type="free" damping="0.01"></joint>
	<geom size="0.025 0.025 0.075" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
	 <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
        </body>
        <body name="base_link" pos="0 0 0">
            <light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
            <inertial pos="0 0 0.1625" mass="116.025" diaginertia="2.72683 8.00693 8.69124" />
            <geom size="0.425 0.21 0.1625" pos="0 0 0.1625" type="box" rgba="0.1 0.1 0.1 1" />
            <body name="kinect2_rgb_optical_frame" pos="0.25953 -0.0963373 0.473183" quat="0.501886 -0.497216 0.481907 -0.518317">
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                <body name="kinect2_ir_optical_frame" pos="0.095 0 0">
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            </body>
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            <body name="top_plate_link" pos="0.07937 0 0.253">
                <inertial pos="0.07937 0 0.253" mass="0" diaginertia="0 0 0" />
            </body>
            <body name="imu_link" pos="0 0 0">
                <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
            </body>
            <body name="front_left_wheel_link" pos="0.27937 0.285 0.0435">
                <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="3" diaginertia="0.045 0.025 0.025" />
                <joint name="front_left_wheel_joint" pos="0 0 0" axis="0 1 0" />
                <geom size="0.183 0.071" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.175 0.175 0.175 1" />
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            <body name="front_right_wheel_link" pos="0.27937 -0.285 0.0435">
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                <joint name="front_right_wheel_joint" pos="0 0 0" axis="0 1 0" />
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            <body name="rear_left_wheel_link" pos="-0.27937 0.285 0.0435">
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                <joint name="rear_left_wheel_joint" pos="0 0 0" axis="0 1 0" />
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                <joint name="rear_right_wheel_joint" pos="0 0 0" axis="0 1 0" />
                <geom size="0.183 0.071" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.175 0.175 0.175 1" />
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            <body name="installation_plate_link" pos="0.138 0 0.314">
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                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
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                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
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                            <joint name="left_arm_shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" />
                            <body name="left_arm_forearm_link" pos="0 -0.1197 0.425">
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                                    <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" />
                                    <body name="left_arm_wrist_2_link" pos="0 0.093 0">
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                                        <joint name="left_arm_wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
                                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" />
                                        <body name="left_arm_wrist_3_link" pos="0 0 0.09465">
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                                            <joint name="left_arm_wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
                                            <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" />
                                            <body name="left_arm_ee_link" pos="0 0.0823 0" quat="0.707107 0 0 0.707107">
                                                <inertial pos="-0.01 0 0" mass="0.001" diaginertia="1.66667e-08 1.66667e-08 1.66667e-08" />
                                                <geom size="0.005 0.005 0.005" pos="-0.01 0 0" type="box" />
                                                <body name="left_gripper_palm" pos="0 0 0" quat="-0.255277 0.659196 0.659721 0.255074">
                                                    <inertial pos="-0.00134236 0.00263073 -1.01672e-08" quat="0.489887 0.489849 0.509908 0.509954" mass="1.20044" diaginertia="0.00263541 0.00218876 0.00210987" />
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                                                    <body name="cylinder1" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                                    </body>
                                                    <body name="cylinder2" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                                    </body>
                                                    <body name="left_gripper_finger_1_link_0" pos="-0.0455 0.0214 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
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                                                        <joint name="left_gripper_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.1784 0.192" />
                                                        <geom pos="0.02 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_0" />
                                                        <body name="left_gripper_finger_1_link_1" pos="0.02 0 0">
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                                                            <joint name="left_gripper_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0.0495 1.2218" />
                                                            <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_1" />
                                                            <body name="left_gripper_finger_1_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
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                                                                <joint name="left_gripper_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                                <geom pos="0.039 0 0.0075" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_2" />
                                                                <body name="left_gripper_finger_1_link_3" pos="0.039 0 0">
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                                                    <body name="left_gripper_finger_2_link_0" pos="-0.0455 0.0214 -0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
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                                                    <body name="left_gripper_finger_middle_link_0" pos="0.0455 0.0214 0" quat="0.707388 0 0 0.706825">
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                                                        <body name="left_gripper_finger_middle_link_1" pos="0.02 0 0">
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                                                    <body name="left_gripper_tool0" pos="0 0.0875 0" quat="0.707141 0 0 0.707073">
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                                                    <site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
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                        <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" />
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                                                    <geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_palm" />
                                                    <body name="cylinder3" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                                    </body>
                                                    <body name="cylinder4" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
                                                    </body>
                                                    <body name="right_gripper_finger_1_link_0" pos="-0.0455 0.0214 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                                                        <inertial pos="0 0 0" quat="0.707145 0.707067 -0.0011614 -0.000375819" mass="0.05" diaginertia="0.00393333 0.00393333 0.00393333" />
                                                        <joint name="right_gripper_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.1784 0.192" />
                                                        <geom pos="0.02 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_0" />
                                                        <body name="right_gripper_finger_1_link_1" pos="0.02 0 0">
                                                            <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                            <joint name="right_gripper_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0.0495 1.2218" />
                                                            <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_1" />
                                                            <body name="right_gripper_finger_1_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
                                                                <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                                <joint name="right_gripper_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                                <geom pos="0.039 0 0.0075" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_2" />
                                                                <body name="right_gripper_finger_1_link_3" pos="0.039 0 0">
                                                                    <inertial pos="0 0 0" quat="0.614353 0.390886 -0.585309 0.35664" mass="0.05" diaginertia="0.00163315 0.00136097 0.000726883" />
                                                                    <joint name="right_gripper_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-1.2217 -0.0523" />
                                                                    <geom quat="0.96639 0 0 0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_3" />
                                                                </body>
                                                            </body>
                                                        </body>
                                                    </body>
                                                    <body name="right_gripper_finger_2_link_0" pos="-0.0455 0.0214 -0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                                                        <inertial pos="0 0 0" quat="0.707145 0.707067 -0.0011614 -0.000375819" mass="0.05" diaginertia="0.00393333 0.00393333 0.00393333" />
                                                        <joint name="right_gripper_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.192 0.1784" />
                                                        <geom pos="0.02 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_0" />
                                                        <body name="right_gripper_finger_2_link_1" pos="0.02 0 0">
                                                            <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                            <joint name="right_gripper_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0.0495 1.2218" />
                                                            <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_1" />
                                                            <body name="right_gripper_finger_2_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
                                                                <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                                <joint name="right_gripper_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                                <geom pos="0.039 0 0.0075" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_2" />
                                                                <body name="right_gripper_finger_2_link_3" pos="0.039 0 0">
                                                                    <inertial pos="0 0 0" quat="0.614353 0.390886 -0.585309 0.35664" mass="0.05" diaginertia="0.00163315 0.00136097 0.000726883" />
                                                                    <joint name="right_gripper_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-1.2217 -0.0523" />
                                                                    <geom quat="0.96639 0 0 0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_3" />
                                                                </body>
                                                            </body>
                                                        </body>
                                                    </body>
                                                    <body name="right_gripper_finger_middle_link_0" pos="0.0455 0.0214 0" quat="0.707388 0 0 0.706825">
                                                        <inertial pos="0 0 0" quat="0.707145 0.707067 -0.0011614 -0.000375819" mass="0.05" diaginertia="0.00393333 0.00393333 0.00393333" />
                                                        <geom pos="0.02 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_0" />
                                                        <body name="right_gripper_finger_middle_link_1" pos="0.02 0 0">
                                                            <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                            <joint name="right_gripper_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0.0495 1.2218" />
                                                            <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_1" />
                                                            <body name="right_gripper_finger_middle_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
                                                                <inertial pos="0 0 0" quat="0.478816 0.503501 0.521199 0.495554" mass="0.15" diaginertia="0.00567167 0.00567167 0.00567167" />
                                                                <joint name="right_gripper_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
                                                                <geom pos="0.039 0 0.0075" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_2" />
                                                                <body name="right_gripper_finger_middle_link_3" pos="0.039 0 0">
                                                                    <inertial pos="0 0 0" quat="0.614353 0.390886 -0.585309 0.35664" mass="0.05" diaginertia="0.00163315 0.00136097 0.000726883" />
                                                                    <joint name="right_gripper_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-1.2217 -0.0523" />
                                                                    <geom quat="0.96639 0 0 0.257081" type="mesh" rgba="0.2 0.2 0.2 1" mesh="collision_link_3" />
                                                                </body>
                                                            </body>
                                                        </body>
                                                    </body>
                                                    <body name="right_gripper_tool0" pos="0 0.0875 0" quat="0.707141 0 0 0.707073">
                                                        <inertial pos="0 0.0875 0" quat="0.707141 0 0 0.707073" mass="0" diaginertia="0 0 0" />
                                                    </body>
                                                </body>
                                            </body>
                                            <body name="right_arm_tool0" pos="0 0.0823 0" quat="0.707107 -0.707107 0 0">
                                                <inertial pos="0 0.0823 0" quat="0.707107 -0.707107 0 0" mass="0" diaginertia="0 0 0" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="right_arm_base" pos="0 0 0" quat="1.7949e-09 0 0 -1">
                        <inertial pos="0 0 0" quat="1.7949e-09 0 0 -1" mass="0" diaginertia="0 0 0" />
                    </body>
                </body>
                <body name="laser_plate_link" pos="0.3 0 -0.04" quat="-2.05103e-10 1 0 0">
                    <inertial pos="0.3 0 -0.04" quat="-2.05103e-10 1 0 0" mass="0" diaginertia="0 0 0" />
                    <body name="laser" pos="0.015 0 0.044" quat="-2.05103e-10 1 0 0">
                        <inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="1.1" diaginertia="0.00312849 0.00307157 0.00196432" />
                        <geom pos="0 0 -0.05" type="mesh" mesh="sick-lms1xx" />
                    </body>
                </body>
            </body>
            <body name="kinect2" pos="0.25 0 0.45" quat="0.499998 -0.5 0.500002 -0.5">
                <inertial pos="-0.000734717 -0.0336779 0.00499741" quat="0.508022 0.492275 0.505398 0.494118" mass="0.807441" diaginertia="0.0039921 0.00384232 0.000561913" />
                <geom type="mesh" rgba="0.101961 0.101961 0.101961 1" mesh="kinect2" />
            </body>
            <body name="cover_plate_link" pos="-0.24 0 0.26" quat="0.707035 0 0 -0.707179">
                <inertial pos="-0.0003778 0.091975 0.11684" quat="0.0325224 0.706695 0.0307294 0.706102" mass="2.7829" diaginertia="0.0657356 0.0591346 0.0219997" />
                <geom quat="0.707107 0.707107 0 0" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="cover_plate" />
            </body>
        </body>
    </worldbody>
</mujoco>
