<mujoco model="franka_panda v200">
<!-- =================================================
    Copyright 2018 Vikash Kumar
    Model   :: Franka (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com)
    source  :: https://github.com/vikashplus/franka_sim
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->
<!--    <asset>-->
<!--         <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"/>-->
<!--        &lt;!&ndash; ceramic table texture and material&ndash;&gt;-->
<!--        <texture file="../textures/ceramic.png" type="cube" name="tex-ceramic"/>-->
<!--        <material name="table_ceramic" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-ceramic" />-->
<!--        &lt;!&ndash; steel legs &ndash;&gt;-->
<!--        <texture file="../textures/steel-brushed.png" type="cube" name="tex-steel-brushed"/>-->
<!--        <material name="table_legs_metal" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-steel-brushed" />-->
<!--    </asset>-->

    <include file="assets/basic_scene.xml"/>
    <include file="assets/assets.xml"/>
    <include file="assets/gripper_assets.xml"/>
    <include file="assets/object_assets.xml"/>
    <compiler meshdir=""/>

    <size njmax="8000" nconmax="4000"/>

    <worldbody>
        <!--Robots-->
        <body name='leftarm' pos='-0.2 0.5 0' euler='0 0 1.57'>
        <include file="assets/chain0.xml"/>
        </body>

        <body name='righttarm' pos='1.2 0.5 0' euler='0 0 1.57'>
        <include file="assets/chain1.xml"/>
        </body>

<!--        <body name="B10" pos="0.25 0.5 1">-->
<!--&lt;!&ndash;            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />&ndash;&gt;-->
<!--            <joint type="free" />-->
<!--            <geom name="G10" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />-->
<!--            <body name="B11" pos="0.035 0 0">-->
<!--&lt;!&ndash;                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />&ndash;&gt;-->
<!--                <joint name="J0_11" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />-->
<!--                <joint name="J1_11" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />-->
<!--                <geom name="G11" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />-->
<!--            </body>>-->
<!--        </body>-->

        <!--Objects-->
<!--        <body name="wire_free" pos="0.25 0.5 0.8" quat="0 0 1 0">-->
<!--            <freejoint/>-->
<!--                <include file="assets/rope_expanded.xml"/>-->
<!--        </body>-->

        <!--        </body>-->
<!--        <body pos="0.3 0.5 0.7" name="leg1">-->
<!--            <freejoint/>-->
<!--                <geom size="0.02 0.02 0.02" type="box" mass="2000" group="0" name="leg1_collision"/>-->
<!--			    <geom size="0.02 0.02 0.02" type="box" mass="1e-8" conaffinity="0" contype="0" group="1" name="leg1_visual" material="bmetal"/>-->
<!--        </body>-->

        <!--        <body name="hole_0" pos="0.75 0.5 1">-->
<!--            <freejoint/>-->
<!--            <body name="square_nut_0">-->
<!--                <geom pos="-0.03325 0 0" size="0.0105 0.04375 0.03" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.0 0.03325 0" size="0.03125 0.0105 0.03" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.0 -0.03325 0" size="0.03125 0.0105 0.03" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.03325 0 0" size="0.0105 0.04375 0.03" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--&lt;!&ndash;                <geom pos="0.054 0 0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />&ndash;&gt;-->
<!--&lt;!&ndash;                <site rgba="1 0 0 1" size="0.005" pos="0.054 0 0" name="handle_site"/>&ndash;&gt;-->
<!--&lt;!&ndash;                <site rgba="1 0 0 1" size="0.003" pos="0 0 0" name="center_site"/>&ndash;&gt;-->
<!--            </body>-->
<!--        </body>-->

<!--        <body name="hole_1" pos="0.15 0.5 1">-->
<!--            <freejoint/>-->
<!--            <body name="square_nut_1">-->
<!--                <geom pos="0 -0.03325  0" size="0.03 0.0105  0.04375 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.0 0 -0.03325" size="0.03 0.03125 0.0105 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.0 0 0.03325" size="0.03 0.03125 0.0105 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0 0.03325 0" size="0.03 0.0105 0.04375 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--                <geom pos="0.03 0 0" size="0.0105 0.04375 0.04375 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />-->
<!--&lt;!&ndash;                <geom pos="0.054 0 0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />&ndash;&gt;-->
<!--&lt;!&ndash;                <site rgba="1 0 0 1" size="0.005" pos="0.054 0 0" name="handle_site"/>&ndash;&gt;-->
<!--&lt;!&ndash;                <site rgba="1 0 0 1" size="0.003" pos="0 0 0" name="center_site"/>&ndash;&gt;-->
<!--            </body>-->
<!--        </body>-->

<!--        <body name="hole_2" pos="0.8 0.5 1">-->
<!--            <freejoint/>-->
<!--            <body name="square_nut_2">-->
<!--                <geom pos="0 -0.00665  0" size="0.006 0.0021  0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="smetal" />-->
<!--                <geom pos="0.0 0 -0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                <geom pos="0.0 0 0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                <geom pos="0 0.00665 0" size="0.006 0.0021 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                <site rgba="1 0 0 1" size="0.001" pos="0.0108 0 0" name="handle_site"/>-->
<!--                <site rgba="1 0 0 1" size="0.0006" pos="0 0 0" name="center_site"/>-->
<!--            </body>-->
<!--        </body>-->

<!--        <body pos="0.5 0.5 0.6" name="panel" >-->
<!--            <freejoint/>-->
<!--&lt;!&ndash;            <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>&ndash;&gt;-->
<!--&lt;!&ndash;            <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_ceramic"/>&ndash;&gt;-->
<!--            <geom pos="0 0 0" size="0.25 0.15 0.005" type="box" group="0" name="panel_collision" />-->
<!--            <geom pos="0 0 0" size="0.25 0.15 0.005" type="box" conaffinity="0" contype="0" group="1" name="panel_visual" material="table_mat_gray"/>-->


        <body name="wire1" pos="0.25 0.5 1">
            <freejoint/>
                <include file="assets/rope_expanded_short.xml"/>
        </body>

        <!-- Table -->
        <body pos="0.5 0.5 0.2" name="working_station">
		    <body pos="0.0 0.0 0.0" name="table0">
			    <geom size="0.5 0.3 0.2" type="box" mass="2000" group="0" name="table_collision" material="table_mat"/>
			    <geom size="0.5 0.3 0.2" type="box" mass="1e-8" group="1" name="table_visual" material="table_mat"/>
<!--                <geom pos="0.5 0.3 0.2" size="0.25 0.15 0.005" type="box" group="0" name="panel_collision" />-->
<!--                <geom pos="0.5 0.3 0.2" size="0.25 0.15 0.005" type="box" conaffinity="0" contype="0" group="1" name="panel_visual" material="table_mat_gray"/>-->
		    </body>
            <body pos="0.0 0.0 0.20025" name="panel0">
                <geom size="0.25 0.15 0.005" type="box" group="0" name="panel_collision" />
                <geom size="0.25 0.15 0.005" type="box" conaffinity="0" contype="0" group="1" name="panel_visual" material="table_mat_gray"/>
                <body name="wire_clip_1" pos="0.0 0.025 0.00875">
                    <geom name="square_nut_1_top" pos="0 -0.00665  0" size="0.006 0.0021  0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="3" material="smetal" />
<!--                    <geom pos="0.0 0 -0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                    <geom pos="0.0 0 0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="3" material="smetal" />-->
                    <geom pos="0 0.00665 0" size="0.006 0.0021 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="3" material="smetal" />
<!--                   <site rgba="1 0 0 1" size="0.001" pos="0.0108 0 0" name="handle_site"/>-->
<!--                    <site rgba="1 0 0 1" size="0.0006" pos="0 0 0" name="center_site"/>-->
                </body>
                <body name="wire_clip_2" pos="-0.1 -0.025 0.00875">
                    <geom pos="0 -0.00665  0" size="0.006 0.0021  0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="smetal" />
<!--                    <geom pos="0.0 0 -0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                    <geom pos="0.0 0 0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
                    <geom pos="0 0.00665 0" size="0.006 0.0021 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
<!--                    <site rgba="1 0 0 1" size="0.001" pos="0.0108 0 0" name="handle_site"/>-->
<!--                    <site rgba="1 0 0 1" size="0.0006" pos="0 0 0" name="center_site"/>-->
                </body>
                <body name="wire_clip_3" pos="0.1 0.025 0.00875">
                    <geom pos="0 -0.00665  0" size="0.006 0.0021  0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="smetal" />
<!--                    <geom pos="0.0 0 -0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
<!--                    <geom pos="0.0 0 0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
                    <geom pos="0 0.00665 0" size="0.006 0.0021 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
<!--                    <site rgba="1 0 0 1" size="0.001" pos="0.0108 0 0" name="handle_site"/>-->
<!--                    <site rgba="1 0 0 1" size="0.0006" pos="0 0 0" name="center_site"/>-->
                </body>
                <body name="insertation_hole_1" pos="0.2 0.025 0.00875">
                    <geom pos="0 -0.00665  0" size="0.006 0.00365  0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="bmetal" />
<!--                    <geom pos="0.0 0 -0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />-->
                    <geom pos="0.0 0 0.00665" size="0.006 0.00625 0.0021 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
                    <geom pos="0 0.00665 0" size="0.006 0.00365 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
                    <geom pos="0.006 0 0" size="0.0021 0.00875 0.00875 " type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
<!--                    <site rgba="1 0 0 1" size="0.001" pos="0.0108 0 0" name="handle_site"/>-->
<!--                    <site rgba="1 0 0 1" size="0.0006" pos="0 0 0" name="center_site"/>-->
                </body>
            </body>
        </body>

    </worldbody>

    <include file='assets/actuator0.xml'/>
    <include file='assets/actuator1.xml'/>

</mujoco>
