<mujocoinclude>
    <!-- =================================================
        Copyright 2020 Zhipeng Dong
        Model   :: UR5e 2F-85 pick (MuJoCoV2.0)
        Author  :: Zhipeng Dong (zhipengdongneu@gmail.com)
        License :: Under Apache License, Version 2.0 (the "License")
    ====================================================== -->

    <equality>
        <connect body1="robotiq_85_right_finger_link" body2="robotiq_85_right_finger_tip_link" anchor="0 0.047 -0.008"/>
        <connect body1="robotiq_85_left_finger_link" body2="robotiq_85_left_finger_tip_link" anchor="0 0.047 -0.008"/>
        <weld body1="mocap" body2="hand" solref="0.01" />
    </equality>

    <contact>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_left_knuckle_link"/>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_right_knuckle_link"/>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_left_inner_knuckle_link"/>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_right_inner_knuckle_link"/>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_left_finger_link"/>
        <exclude body1="robotiq_85_base_link" body2="robotiq_85_right_finger_link"/>
        <exclude body1="robotiq_85_right_finger_link" body2="robotiq_85_right_finger_tip_link"/>
        <exclude body1="robotiq_85_left_finger_link" body2="robotiq_85_left_finger_tip_link"/>
    </contact>

    <actuator>
<!--        <motor joint='shoulder_pan_joint' class="D_motor" />-->
<!--        <motor joint='shoulder_lift_joint' class="D_motor" />-->
<!--        <motor joint='elbow_joint' class="D_motor" />-->
<!--        <motor joint='wrist_1_joint' class="D_motor" />-->
<!--        <motor joint='wrist_2_joint' class="D_motor" />-->
<!--        <motor joint='wrist_3_joint' class="D_motor" />-->

<!--        <position joint='shoulder_pan_joint' class="D_position" />-->
<!--        <position joint='shoulder_lift_joint' class="D_position" />-->
<!--        <position joint='elbow_joint' class="D_position" />-->
<!--        <position joint='wrist_1_joint' class="D_position" />-->
<!--        <position joint='wrist_2_joint' class="D_position" />-->
<!--        <position joint='wrist_3_joint' class="D_position" />-->

<!--        <position ctrllimited="true" ctrlrange="0 0.8575" joint="robotiq_85_left_knuckle_joint" kp="10" name="gripper_robotiq_85_left_knuckle_joint" forcelimited="true" forcerange="-20 20"/>-->
<!--        <position ctrllimited="true" ctrlrange="0 1.5707" joint="robotiq_85_left_inner_knuckle_joint" kp="10" name="gripper_robotiq_85_left_inner_knuckle_joint" forcelimited="true" forcerange="-20 20"/>-->
<!--        <position ctrllimited="true" ctrlrange="0 1.5707" joint="robotiq_85_left_finger_tip_joint" kp="10" name="gripper_robotiq_85_left_finger_tip_joint" forcelimited="true" forcerange="-20 20"/>-->
<!--        <position ctrllimited="true" ctrlrange="0 1.5707" joint="robotiq_85_right_knuckle_joint" kp="10" name="gripper_robotiq_85_right_knuckle_joint" forcelimited="true" forcerange="-20 20"/>-->
<!--        <position ctrllimited="true" ctrlrange="0 1.5707" joint="robotiq_85_right_inner_knuckle_joint" kp="10" name="gripper_robotiq_85_right_inner_knuckle_joint" forcelimited="true" forcerange="-20 20"/>-->
<!--        <position ctrllimited="true" ctrlrange="0 1.5707" joint="robotiq_85_right_finger_tip_joint" kp="10" name="gripper_robotiq_85_right_finger_tip_joint" forcelimited="true" forcerange="-20 20"/>-->

    </actuator>

</mujocoinclude>