<mujoco model="robotiq_gripper_85_model">
    <asset>
        <mesh name="robotiq_arg2f_base_link" file="meshes/robotiq_85_gripper/robotiq_arg2f_base_link.stl" />
        <mesh name="robotiq_arg2f_85_outer_knuckle" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_outer_finger" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_finger" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_knuckle" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_base_link" file="meshes/robotiq_85_gripper/robotiq_arg2f_base_link_vis.stl" />
        <mesh name="robotiq_arg2f_85_outer_knuckle_vis" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_knuckle_vis.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_outer_finger_vis" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_finger_vis.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_finger_vis" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_finger_vis.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_knuckle_vis" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_knuckle_vis.stl" scale="0.001 0.001 0.001" />
    </asset>

    <tendon>
		<!--finger2 tendons-->
        <fixed name="finger2_12_cpl" range="-1 1" stiffness="0.4" springlength="0.001" >
			<joint joint="finger_joint"  coef="1"/>
			<joint joint="left_inner_finger_joint"  coef="-3"/>
			<joint joint="left_inner_knuckle_joint"  coef="1"/>
		</fixed>

		<!--Finger1 tendons-->
        <fixed name="finger1_12_cpl" range="-1 1" stiffness="0.4" springlength="0.001" >
			<joint joint="right_outer_knuckle_joint"  coef="1"/>
			<joint joint="right_inner_finger_joint"  coef="-3"/>
			<joint joint="right_inner_knuckle_joint"  coef="1"/>
		</fixed>
	</tendon>

    <actuator>
        <position name='finger_1' ctrllimited="true" kp="20" joint='finger_joint' ctrlrange='0 0.8'/>
        <position name='finger_2' ctrllimited="true" kp="20" joint='right_outer_knuckle_joint' ctrlrange='0 0.8'/>
    </actuator>

    <worldbody>
        <body name="robotiq_85_adapter_link" pos="0.0 0 0" >

            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />

            <!-- This site was added for visualization. -->
            <site name="grip_site" pos="0 0 0.145" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
            <!-- This site was added for visualization. -->
            <site name="grip_site_cylinder" pos="0 0 0.145" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>

            <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" />
            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision" />
            <body name="left_outer_knuckle" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
                <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                <joint name="finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="left_outer_knuckle_collision" solref="0.01 0.25" />
                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
                <geom pos="0 0.0315 -0.0041" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="left_outer_finger_collision" solref="0.01 0.25" />
                <body name="left_inner_finger" pos="0 0.0376 0.043">
                    <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                    <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="left_inner_finger_collision" solref="0.01 0.25" />
                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25" />
                </body>
            </body>
            <body name="left_inner_knuckle" pos="0 -0.0127 0.06142" quat="0 0 0 1">
                <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="left_inner_knuckle_collision" />
            </body>
            <body name="right_outer_knuckle" pos="0 0.0306011 0.054904">
                <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="right_outer_knuckle_collision" solref="0.01 0.25" />
                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
                <geom pos="0 0.0315 -0.0041" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="right_outer_finger_collision" solref="0.01 0.25" />
                <body name="right_inner_finger" pos="0 0.0376 0.043">
                    <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                    <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="right_inner_finger_collision" solref="0.01 0.25" />
                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25" />
                </body>
            </body>
            <body name="right_inner_knuckle" pos="0 0.0127 0.06142">
                <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="right_inner_knuckle_collision" />
            </body>
        </body>
    </worldbody>
    <sensor>
        <force name="force_ee" site="ft_frame"/>
        <torque name="torque_ee" site="ft_frame"/>
    </sensor>

</mujoco>
