<mujoco model='jaco'>
  <compiler coordinate='local' angle='radian' eulerseq='yxz'/>

  <contact>
    <exclude body1='b_base' body2='b_1'/>
    <exclude body1='b_finger_1' body2='b_finger_2'/>
    <exclude body1='b_finger_1' body2='b_finger_3'/>
    <exclude body1='b_finger_2' body2='b_finger_3'/>
  </contact>

  <default>
    <geom contype='1' conaffinity='1' condim='3' friction='.1 .1' solimp='.95 .98 .0005' solref='0.02 1.1' density='1'/>
    <joint type='hinge' armature='0' damping='0'
      solimpfriction='.95 .95 0' solreffriction='.02 1' solimplimit='0 .99 .01' solreflimit='.02 1'/>
    <default class='finger'>
      <joint frictionloss='0.1' armature='.1' axis='0 0 1' limited='true' range='-0.15 1.2' damping='.1'/>
      <velocity kv='0.5' ctrlrange='-1 1' gear='1' forcerange='-1.5 1.5'/>
      <geom type='capsule' size="0.0108231 0.0145116" pos="0.0190913 -0.0112192 1.10387e-06" quat="0.475811 -0.475815 0.523071 -0.523068"/>
    </default>
    <default class='fingertip'>
      <geom type='box' pos='0.065 -0.022 0' size='0.02 .005 .011' rgba='1 0 0 1'
            quat='1 0 0 -0.235' condim='4' />
      <site type='ellipsoid' pos='0.065 -0.022 0' size='0.02 .005 .011'
            quat='1 0 0 -0.235'/>
    </default>
  </default>

  <worldbody>
    <geom name='ground' type='plane' pos='0 0 0.06' size='1 1 1' rgba='0.78 0.93 0.92 1.0' margin='0.1' gap='0.1' />
    <body name='b_base' pos='0 0 0.005'>
      <inertial pos='-0.000132925 -0.000516418 0.0820911' quat='0.6951 -0.00714556 0.00738537 0.71884' mass='0.00718278' diaginertia='0.00157301 0.00157269 0.00058831' />
      <geom name='base' rgba='0 0.4470 0.7410 1' type='capsule' size="0.0350512 0.0555543" pos="-0.000132925 -0.000516418 0.0820911" quat="0.6951 -0.00714564 0.00738544 0.71884" />
      <body name='b_1' pos='0 0 0.1535' quat='0 0 1 0'>
        <inertial pos='-3.49946e-005 0.010651 -0.0670012' quat='0.704277 0.0627825 -0.0628 0.70435' mass='0.00644357' diaginertia='0.00172311 0.00163259 0.00042883' />
        <joint name='joint_1' axis='0 0 -1' />
        <geom name='link_1' rgba='0.8500 0.3250 0.0980 1' type='capsule' size="0.031417 0.0668352" pos="-3.49946e-05 0.010651 -0.0670012" quat="0.704277 0.0627825 -0.0628 0.70435" />
        <body name='b_2' pos='0 0 -0.1185' quat='0 0 1 1'>
          <inertial pos='0.205004 7.5835e-005 -0.0202812' quat='2.24027e-006 0.707108 5.30493e-006 0.707106' mass='0.011691' diaginertia='0.0253426 0.0250512 0.000536357' />
          <joint name='joint_2' axis='0 0 1' range='-3.4906585 0.34906585' limited='true' />
          <geom name='link_2' rgba='0.9290 0.6940 0.1250 1' type='capsule' size="0.0251592 0.240341" pos="0.205004 7.5835e-05 -0.0202812" quat="2.23957e-06 0.707108 5.30416e-06 0.707106" />
          <body name='b_3' pos='0.41 0 0' quat='0 0.707107 0.707107 0'>
            <inertial pos='0.0843942 7.48909e-006 -0.0177123' quat='-4.64469e-005 0.692702 -4.11798e-005 0.721224' mass='0.00673417' diaginertia='0.00420255 0.00409328 0.000303584' />
            <joint name='joint_3' axis='0 0 -1' range='-4.01425728 0.872664626' limited='true' />
            <geom name='link_3' rgba='0.4940 0.1840 0.5560 1' type='capsule' size="0.0255647 0.120643" pos="0.0843942 7.48907e-06 -0.0177123" quat="-4.64475e-05 0.692702 -4.11814e-05 0.721224" />
            <body name='b_4' pos='0.207 0 -0.01125' quat='0 0.707107 0 -0.707107'>
              <inertial pos='0.0101659 -4.64261e-005 -0.0369867' quat='0.965925 1.91737e-005 -0.258823 -1.40769e-005' mass='0.00221423' diaginertia='0.0001816 0.000174586 9.79319e-005' />
              <joint name='joint_4' axis='0 0 -1' />
              <geom name='link_4' rgba='0.4660 0.6740 0.1880 1' type='capsule' size="0.0257405 0.0289568" pos="0.0101659 -4.64261e-05 -0.0369867" quat="0.965925 1.43712e-05 -0.258823 3.85082e-06" />
              <body name='b_5' pos='0.037 0 -0.06408' quat='0.866025 0 -0.5 0'>
                <inertial pos='0.0101659 -4.64261e-005 -0.0369867' quat='0.965925 1.91737e-005 -0.258823 -1.40769e-005' mass='0.00221423' diaginertia='0.0001816 0.000174586 9.79319e-005' />
                <joint name='joint_5' axis='0 0 -1' />
                <geom name='link_5' rgba='0.3010 0.7450 0.9330 1' type='capsule' size="0.0257405 0.0289568" pos="0.0101659 -4.64261e-05 -0.0369867" quat="0.965925 1.43712e-05 -0.258823 3.85082e-06" />
                <body name='b_hand' pos='0.037 0 -0.06408' quat='0.612372 -0.353553 -0.353553 0.612372'>
                  <site type='sphere' size='.01' name='gripsite' pos='0 0 -.16' rgba='.5 .5 .5 .3' />
                  <site type='sphere' size='.01' name='pinchsite' pos='0 0.015 -0.195' rgba='.5 .5 .5 .3' />
                  <inertial pos='0.00628384 -2.92087e-005 -0.0608681' quat='0.708562 -0.0338601 -0.0358744 0.703923' mass='0.00547172' diaginertia='0.000759818 0.000676099 0.0004995' />
                  <joint name='joint_6' axis='0 0 -1' range='-6.28319 6.28319'  limited='false'/>
                  <geom name='link_6' rgba='0.6350 0.0780 0.1840 1' type='capsule' size="0.0368731 0.0322296" pos="0.00628384 -2.92087e-05 -0.0608681" quat="0.708562 -0.0338601 -0.0358744 0.703923"/>
                  <!-- optional collision geom to be used if issues arise with the mesh
                    <geom type='ellipsoid' rgba='0.6350 0.0780 0.1840 1' size='.035 .025 .01' pos='.005 0 -.117' group='1'/> -->
                  <body name='b_finger_1' childclass='finger' pos='-0.029 .003 -0.1145' quat='-0.414818 -0.329751 -0.663854 0.52772'>
                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006' />
                    <joint name='joint_finger_1'/>
                    <geom name='finger_knuckle_1' rgba='0 0.4470 0.7410 1'/>
                    <geom class='fingertip' name='finger_tip_1' rgba='0 0.4470 0.7410 1'/>
                    <site class='fingertip' name='fingertip1'/>
                  </body>
                  <body name='b_finger_2' childclass='finger' pos='0.0295 0.0216 -0.115' quat='0.561254 -0.620653 0.321748 0.443014'>
                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006' />
                    <joint name='joint_finger_2'/>
                    <geom name='finger_knuckle_2' rgba='0.9290 0.6940 0.1250 1'/>
                    <geom class='fingertip' name='finger_tip_2' rgba='0.9290 0.6940 0.1250 1'/>
                    <site class='fingertip' name='fingertip2'/>
                  </body>
                  <body name='b_finger_3' childclass='finger' pos='0.0295 -0.0216 -0.1145' quat='0.625248 -0.567602 0.434845 0.312735'>
                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006' />
                    <joint name='joint_finger_3'/>
                    <geom name='finger_knuckle_3' rgba='0.8500 0.3250 0.0980 1'/>
                    <geom class='fingertip' name='finger_tip_3' rgba='0.8500 0.3250 0.0980 1'/>
                    <site class='fingertip' name='fingertip3'/>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

</mujoco>
