<mujoco model="base">
    <asset>
        <mesh name="electric_gripper_base" file="meshes/two_finger_gripper/electric_gripper_base.STL" />
        <mesh name="standard_narrow" file="meshes/two_finger_gripper/standard_narrow.STL" />
        <mesh name="half_round_tip" file="meshes/two_finger_gripper/half_round_tip.STL" />
    </asset>
    <actuator>
        <position ctrllimited="true" ctrlrange="-0.020833 0.0115" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" forcelimited="true" forcerange="-20 20"/>
        <position ctrllimited="true" ctrlrange="-0.0115 0.020833" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" forcelimited="true" forcerange="-20 20"/>
    </actuator>

    <worldbody>
            <!-- <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> -->
            <!-- <geom size="1e-08 5e-09" type="cylinder" /> -->
        <body name="right_gripper_base" pos="0 0 0.025">
            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site>
            <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
            <geom name="right_gripper_base_visual" quat="0 0 0.707107 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" />
            <geom name="right_gripper_base_collision" size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" />
            <body name="right_gripper" pos="0 0 0.095">
                <inertial pos="0 0 0" mass="0.0001" diaginertia="0 0 0" />
                <!-- This site was added for visualization. -->
                <site name="grip_site" pos="0 0 -0.03" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site>
                <!-- This site was added for visualization. -->
                <site name="griptip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site>
                <site name="lgriptip_site" pos="0 0.02 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site>
                <site name="rgriptip_site" pos="0 -0.02 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"></site>

                <!-- This site was added for visualization. -->
                <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"></site>
                <!-- This camera points out of the gripper. -->
                <camera mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" fovy="75"/>
            </body>
            <!-- original <body name="r_gripper_l_finger" pos="0 -0.0015 0.02"> -->
            <body name="r_gripper_l_finger" pos="0 0.01 0.02">
                <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.02" diaginertia="0.01 0.01 0.01" />
                <joint name="r_gripper_l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100"/>
                <geom name="r_gripper_l_finger_visual" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" />
                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>

                <body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                    <geom name="r_gripper_l_finger_tip_visual" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" />
                <!--     <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0.5 0.005 0.0001"/> -->
                <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 1" type="box"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="2 10 0.5"/>

                </body>
            </body>
            <body name="r_gripper_r_finger" pos="0 -0.01 0.02">
                <inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                <joint name="r_gripper_r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100"/>
                <geom name="r_gripper_r_finger_visual" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" />
                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
                <body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
                    <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
                    <geom name="r_gripper_r_finger_tip_visual" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" />
                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box"  conaffinity="1" contype="0" name="r_fingertip_g0" friction="2 10 0.5"/>
                </body>
            </body>
        </body>
    </worldbody>

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