<!--

MODEL: Univewrsal Robots UR5 + Robotiq S Model 3 Finger Gripper
AUTHOR: Andrea Franceschetti @IASLAB Research Group
UNIVERSITY: University of Padua
DEPARTMENT: Departement of Information Engineering DEI
Control Engineering / Automation Engineering

-->


<!--Link  MuJoCo modeling: http://www.mujoco.org/book/modeling.html-->

<mujoco model="ur5gripper">
    <compiler angle="radian"
              inertiafromgeom="true"
              texturedir="textures/"
              meshdir="stls/"/>
    <option timestep="2e-3"
            iterations="10"
            tolerance="1e-10"
            impratio="20"/>
    <size njmax="600" nconmax="150" nstack="300000"/>









    <!--MODEL DESCRIPTION-->
    <worldbody>
        <!--Lighting parameters-->
        <light name="light3" mode="targetbody" target="box_link" directional="true" pos="1 1 3" />
        <!--Camera parameters-->
        <camera name="main1" mode="fixed" target="gripperpalm" pos="2 2 2.7" axisangle="2 2 -2 1"/>
        <!--Floor Property-->
        <geom name='floor' material="floor_mat" pos='0 0 0' size='2.5 2.5 0.1'  type='plane' />


    </worldbody>
</mujoco>
