<!--
# Copyright 2020 (c) Aalto University - All Rights Reserved
# Author: Julius Hietala <julius.hietala@aalto.fi>
#
-->

<!-- ORIGINAL COPYRIGHT=================================================
    Copyright 2018 Vikash Kumar 
    Model   :: Franka (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com)
    source  :: https://github.com/vikashplus/franka_sim
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->

<!-- Robot limits pulled from https://frankaemika.github.io/docs/control_parameters.html#constants -->

<mujocoinclude>
    <body name="panda0_link0" childclass="panda" pos="0 0 0" >
        <geom class="panda_viz" mesh="link0_viz"/>
        <geom class="panda_col" mesh="link0_col" mass="2.91242"/>
        <body name="panda0_link1" pos="0 0 0.333">
            <joint name="panda0_joint1" range="-2.8973 2.8973" class="panda_arm"/>
            <geom class="panda_viz" mesh="link1_viz"/>
            <geom class="panda_col" mesh="link1_col" mass="2.7063"/>
            <body name="panda0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                <joint name="panda0_joint2" range="-1.7628 1.7628" class="panda_arm"/>
                <geom class="panda_viz" mesh="link2_viz"/>
                <geom class="panda_col" mesh="link2_col" mass="2.73046"/>
                <body name="panda0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                    <joint name="panda0_joint3" range="-2.8973 2.8973" class="panda_arm"/>
                    <geom class="panda_viz" mesh="link3_viz"/>
                    <geom class="panda_col" mesh="link3_col" mass="2.04104"/>
                    <body name="panda0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                        <joint name="panda0_joint4" range="-3.0718 -0.0698" class="panda_arm"/>
                        <geom class="panda_viz" mesh="link4_viz"/>
                        <geom class="panda_col" mesh="link4_col" mass="2.08129"/>
                        <body name="panda0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                            <joint name="panda0_joint5" range="-2.8973 2.8973" class="panda_forearm"/>
                            <geom class="panda_viz" mesh="link5_viz"/>
                            <geom class="panda_col" mesh="link5_col" mass="3.00049"/>
                            <body name="panda0_link6" pos="0 0 0" euler='1.57 0 0'>
                                <joint name="panda0_joint6" range="-0.0175 3.7525" class="panda_forearm"/>
                                <!-- <body name="panda0_link6" pos="0 0 0" quat="0.707107 0.707107 0 0"> -->
                                <!-- <joint name="panda0_joint6" range="-0.0873 3.8223" class="panda_forearm"/> -->
                                <geom class="panda_viz" mesh="link6_viz"/>
                                <geom class="panda_col" mesh="link6_col" mass="1.3235"/>
                                <body name="panda0_link7" pos="0.088 0 0" euler='1.57 0 0.7854'>
                                    <joint name="panda0_joint7" range="-2.8973 2.8973" class="panda_forearm"/>
                                    <!-- <body name="panda0_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0"> -->
                                    <!-- <joint name="panda0_joint7" range="-2.9671 2.9671" class="panda_forearm"/> -->
                                    <geom class="panda_viz" mesh="link7_viz"/>
                                    <geom class="panda_col" mesh="link7_col" mass="0.2"/>
                                    <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" mass="0.81909"/>
                                    <body name="end_effector_body" pos="0 0 0.26">
                                        <site name="end_effector_site" pos="0 0 0" size="0.01"/>
                                    </body>
                                    <body name="panda0_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683" childclass='panda_finger'>
                                        <inertial pos="-1.57863e-05 0.0118731 0.0434103" quat="0.705868 0.0310348 -0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
                                        <joint name="panda0_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"/> -->
                                        <geom size="0.0070" fromto=".009 .006 .0875   -.009 .009 .0875" type="capsule" />
                                        <geom size="0.0070" fromto=".009 .009 .0875   -.009 .006 .0875" type="capsule" />

                                        <geom size="0.0075" fromto=".009 .007 .0775   -.009 .010 .0775" type="capsule" />
                                        <geom size="0.0075" fromto=".009 .010 .0775   -.009 .007 .0775" type="capsule" />

                                        <geom size="0.0082" fromto=".009 .008 .0675   -.009 .011 .0675" type="capsule" />
                                        <geom size="0.0082" fromto=".009 .011 .0675   -.009 .008 .0675" type="capsule" />

                                        <geom size="0.0090" fromto=".009 .009 .0575   -.009 .012 .0575" type="capsule" />
                                        <geom size="0.0090" fromto=".009 .012 .0575   -.009 .009 .0575" type="capsule" />

                                        <geom size="0.0100" fromto=".009 .0105 .0475   -.009 .0135 .0475" type="capsule" />
                                        <geom size="0.0100" fromto=".009 .0135 .0475   -.009 .0105 .0475" type="capsule" />

                                        <geom size="0.0110" fromto=".009 .012 .035   -.009 .015 .035" type="capsule" />
                                        <geom size="0.0110" fromto=".009 .015 .035   -.009 .012 .035" type="capsule" />

                                        <geom size="0.0185 0.0120 0.0175" pos="0 0.014 0.015" type="box" euler='.03 0 0' />

                                    </body>
                                    <body name="panda0_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683"  childclass='panda_finger'>
                                        <inertial pos="1.57863e-05 -0.0118731 0.0434103" quat="0.705868 -0.0310348 0.0314925 0.706962" mass="0.0927059" diaginertia="6.57134e-05 6.09611e-05 1.09932e-05" />
                                        <joint name="panda0_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 class="panda_col" mesh="finger_col"/> -->
                                        <geom size="0.0070" fromto=".009 -.006 .0875   -.009 -.009 .0875" type="capsule" />
                                        <geom size="0.0070" fromto=".009 -.009 .0875   -.009 -.006 .0875" type="capsule" />

                                        <geom size="0.0075" fromto=".009 -.007 .0775   -.009 -.010 .0775" type="capsule" />
                                        <geom size="0.0075" fromto=".009 -.010 .0775   -.009 -.007 .0775" type="capsule" />

                                        <geom size="0.0082" fromto=".009 -.008 .0675   -.009 -.011 .0675" type="capsule" />
                                        <geom size="0.0082" fromto=".009 -.011 .0675   -.009 -.008 .0675" type="capsule" />

                                        <geom size="0.0090" fromto=".009 -.009 .0575   -.009 -.012 .0575" type="capsule" />
                                        <geom size="0.0090" fromto=".009 -.012 .0575   -.009 -.009 .0575" type="capsule" />

                                        <geom size="0.0100" fromto=".009 -.0105 .0475   -.009 -.0135 .0475" type="capsule" />
                                        <geom size="0.0100" fromto=".009 -.0135 .0475   -.009 -.0105 .0475" type="capsule" />

                                        <geom size="0.0110" fromto=".009 -.012 .035   -.009 -.015 .035" type="capsule" />
                                        <geom size="0.0110" fromto=".009 -.015 .035   -.009 -.012 .035" type="capsule" />

                                        <geom size="0.0185 0.0120 0.0175" pos="0 -.014 0.015" type="box" euler='-.03 0 0' />
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujocoinclude>
