<?xml version="1.0"?>
<mujocoinclude>
  <body name="panda1_link0" childclass="panda">
    <geom class="panda_viz" mesh="link0_viz"/>
    <geom class="panda_col" mesh="link0_col"/>
    <body name="panda1_link1" pos="0 0 0.333">
      <joint name="panda1_joint1" range="-2.9671 2.9671" class="panda_arm"/>
      <geom class="panda_viz" mesh="link1_viz"/>
      <geom class="panda_col" mesh="link1_col"/>
      <body name="panda1_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
        <joint name="panda1_joint2" range="-1.8326 1.8326" class="panda_arm"/>
        <geom class="panda_viz" mesh="link2_viz"/>
        <geom class="panda_col" mesh="link2_col"/>
        <body name="panda1_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
          <joint name="panda1_joint3" range="-2.9671 2.9671" class="panda_arm"/>
          <geom class="panda_viz" mesh="link3_viz"/>
          <geom class="panda_col" mesh="link3_col"/>
          <body name="panda1_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
            <joint name="panda1_joint4" range="-3.1416 0" class="panda_arm"/>
            <geom class="panda_viz" mesh="link4_viz"/>
            <geom class="panda_col" mesh="link4_col"/>
            <body name="panda1_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
              <joint name="panda1_joint5" range="-2.9671 2.9671" class="panda_forearm"/>
              <geom class="panda_viz" mesh="link5_viz"/>
              <geom class="panda_col" mesh="link5_col"/>
              <body name="panda1_link6" pos="0 0 0" euler="1.57 0 1.57">
                <joint name="panda1_joint6" range="-0.0873 3.8223" class="panda_forearm" ref="1.57"/>
                <!-- <body name="panda1_link6" pos="0 0 0" quat="0.707107 0.707107 0 0"> -->
                <!-- <joint name="panda1_joint6" range="-0.0873 3.8223" class="panda_forearm"/> -->
                <geom class="panda_viz" mesh="link6_viz"/>
                <geom class="panda_col" mesh="link6_col"/>
                <body name="panda1_link7" pos="0.088 0 0" euler="1.57 0 0.7854">
                  <joint name="panda1_joint7" range="-2.9671 2.9671" class="panda_forearm" ref="0.7854"/>
                  <!-- <body name="panda1_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0"> -->
                  <!-- <joint name="panda1_joint7" range="-2.9671 2.9671" class="panda_forearm"/> -->
                  <geom class="panda_viz" mesh="link7_viz"/>
                  <geom class="panda_col" mesh="link7_col"/>
                  <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_viz" mesh="hand_viz"/>
                  <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" class="panda_col" mesh="hand_col"/>
                  <site name="end_effector1" pos="0 0 .210" size="0.01" euler="0 0 -0.785398"/>
                  <body name="panda1_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                    <joint name="panda1_finger_joint1" axis="0 1 0" type="slide" range="0 0.04" class="panda_finger"/>
                    <geom class="panda_viz" mesh="finger_viz"/>
                    <geom class="panda_col" mesh="finger_col"/>
                  </body>
                  <body name="panda1_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                    <joint name="panda1_finger_joint2" axis="0 -1 0" type="slide" range="0 0.04" class="panda_finger"/>
                    <geom quat="0 0 0 1" class="panda_viz" mesh="finger_viz"/>
                    <geom quat="0 0 0 1" class="panda_col" mesh="finger_col"/>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</mujocoinclude>
