<mujoco model="panda">
    <actuator>
        <!-- Physical limits of the actuator. -->
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="panda_joint_1" name="panda_torq_j1"/>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="panda_joint_2" name="panda_torq_j2"/>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="panda_joint_3" name="panda_torq_j3"/>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="panda_joint_4" name="panda_torq_j4"/>
        <motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="panda_joint_5" name="panda_torq_j5"/>
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="panda_joint_6" name="panda_torq_j6"/>
        <motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="panda_joint_7" name="panda_torq_j7"/>
    </actuator>
    <default>
       <joint damping=".1"/>
    </default>
    <asset>
        <mesh name="panda_link_0" file="meshes/link0_vis.stl" />
        <mesh name="panda_link_1" file="meshes/link1_vis.stl" />
        <mesh name="panda_link_2" file="meshes/link2_vis.stl" />
        <mesh name="panda_link_3" file="meshes/link3_vis.stl" />
        <mesh name="panda_link_4" file="meshes/link4_vis.stl" />
        <mesh name="panda_link_5" file="meshes/link5_vis.stl" />
        <mesh name="panda_link_6" file="meshes/link6_vis.stl" />
        <mesh name="panda_link_7" file="meshes/link7_vis.stl" />
        <mesh name="panda_link_0_vis" file="meshes/link0_vis.stl" />
        <mesh name="panda_link_1_vis" file="meshes/link1_vis.stl" />
        <mesh name="panda_link_2_vis" file="meshes/link2_vis.stl" />
        <mesh name="panda_link_3_vis" file="meshes/link3_vis.stl" />
        <mesh name="panda_link_4_vis" file="meshes/link4_vis.stl" />
        <mesh name="panda_link_5_vis" file="meshes/link5_vis.stl" />
        <mesh name="panda_link_6_vis" file="meshes/link6_vis.stl" />
        <mesh name="panda_link_7_vis" file="meshes/link7_vis.stl" />
        <mesh file="meshes/pedestal.stl" name="panda_pedestal"/>
    </asset>
    <worldbody>
        <body name="panda_link_0" pos="0 0 0">
        <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
            <body name="panda_pedestal" pos="0 0 0">
                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
                <geom conaffinity="0" contype="0" group="1" mesh="panda_pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" name="pedestal_col1"/>
                <!-- <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/> -->
            </body>
            <inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_0_vis" name="panda_link_0_visual" rgba="1 1 1 1"/>
            <geom type="mesh" group="0" mesh="panda_link_0" name="panda_link_0_collision"/>
            <body name="panda_link_1" pos="0 0 0.333">
                    <inertial pos="0 0 -0.07" mass="3" diaginertia="0.3 0.3 0.3" />
                    <joint name="panda_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_1_vis" name="panda_link_1_visual" rgba="1 1 1 1" />
                    <geom type="mesh" group="0" mesh="panda_link_1" name="panda_link_1_collision"/>
                    <body name="panda_link_2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                        <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
                        <joint name="panda_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_2_vis" name="panda_link_2_visual" rgba="1 1 1 1" />
                        <geom type="mesh" group="0" mesh="panda_link_2" name="panda_link_2_collision"/>
                        <body name="panda_link_3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                            <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
                            <joint name="panda_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_3_vis" name="panda_link_3_visual" rgba="1 1 1 1" />
                            <geom type="mesh" group="0" mesh="panda_link_3" name="panda_link_3_collision"/>
                            <body name="panda_link_4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                                <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
                                <joint name="panda_joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1"/>
                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_4_vis" name="panda_link_4_visual" rgba="1 1 1 1" />
                                <geom type="mesh" group="0" mesh="panda_link_4" name="panda_link_4_collision"/>
                                <body name="panda_link_5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                                    <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
                                    <joint name="panda_joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_5_vis" name="panda_link_5_visual" rgba="1 1 1 1" />
                                    <geom type="mesh" group="0" mesh="panda_link_5" name="panda_link_5_collision"/>
                                    <body name="panda_link_6" pos="0 0 0" quat="0.707107 0.707107 0 0">
                                        <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
                                        <joint name="panda_joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01"/>
                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_6_vis" name="panda_link_6_visual" rgba="1 1 1 1" />
                                        <geom type="mesh" group="0" mesh="panda_link_6" name="panda_link_6_collision"/>
                                        <body name="panda_link_7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
                                            <inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
                                            <joint name="panda_joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01"/>
                                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="panda_link_7_vis" name="panda_link_7_visual" rgba="1. 1. 1. 1." />
                                            <geom type="mesh" group="0" mesh="panda_link_7" name="panda_link_7_collision"/>
                                            <!-- rotate 135deg to align physically to the tool-->
                                            <body name="panda_right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
                                                <!-- This sites were added at the hand for visualization = 3 axes -->
                                                <camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
        </body>
    </worldbody>
</mujoco>
