<mujoco model="blue_wrist">
    <compiler angle="radian"/>
    <option gravity="0 0 0"/>
    <asset> 
        <mesh name="wrist_roll_link" file="../../robot/STL/hand_base_link.STL" />
        <mesh name="hook_0" file="../../robot/STL/hook_0.STL" scale="0.001 0.001 0.001"/>
        <mesh name="hook_1" file="../../robot/STL/hook_1.STL" scale="0.001 0.001 0.001"/>
        <mesh name="hook_2" file="../../robot/STL/hook_2.STL" scale="0.001 0.001 0.001"/>
        <mesh name="hook_3" file="../../robot/STL/hook_3.STL" scale="0.001 0.001 0.001"/>
        <texture builtin="flat" height="32" name="plastic" type="2d" width="32"/>
        <texture builtin="flat" height="32" name="metal" type="2d" width="32"/>
        <material name="Plastic" shininess="0.3" specular="0.3" texture="plastic"/>
    </asset>
    <worldbody>
            <body childclass="robot" name="robotwrist_rolllink" pos="1.0 0 1.2" euler="0 0 0">
                <camera fovy="60" mode="fixed" name="robot_camera1" pos="-0.05 -0.05 0.05" euler="1.57 1.57 0"/>
                <camera fovy="60" mode="fixed" name="robot_camera2" pos="-0.05 0.05 0.05" euler="1.57 1.57 0"/>
                <inertial pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" quat="0.999999 0.000484212 -0.00134643 -0.000743041" mass="0.657109755986862" fullinertia="0.0057866591250737 0.00530223654324281 0.00342399181200673 3.71515699629511e-07 -6.32890111626103e-05 8.9999884666805e-07" />
                <geom name="link" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wrist_roll_link" contype="16" conaffinity="7" euler="0 1.57 0" />
                <joint name="wrist_x_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="1 0 0" limited="true" range="-3.0 3.0" />
                <joint name="wrist_y_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 1 0" limited="true" range="-3.0 3.0" />
                <joint name="wrist_z_slide_joint" type="slide" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 0 1" limited="true" range="-3.0 3.0" />
                <joint name="wrist_z_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 0 1" limited="true" range="-1.57 1.57" />
                <joint name="wrist_y_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="0 1 0" limited="true" range="-1.57 1.57" />
                <joint name="wrist_x_hinge_joint" type="hinge" pos="-0.0641638075944594 2.70691865020822e-05 0.00526385736219506" axis="1 0 0" limited="true" range="0 3.13" />
                <body name="robotfinger_hook" pos="-0.06 -0.02 0" euler="0 0 0">
                    <inertial pos="0 0 0" quat="1 0 0 0" mass="0.0001" diaginertia="3.916e-5 4.278e-5 4.8095e-6"/>
                    <geom friction="1 1 1" type="mesh" mesh="hook_0" name="hookfinger_0" euler="0 0 0" condim="3"/>
                    <geom friction="1 1 1" type="mesh" mesh="hook_3" name="hookfinger_3" euler="0 0 0" condim="3"/>
                    <geom friction="1 1 1" type="mesh" mesh="hook_1" name="hookfinger_1" euler="0 0 0" condim="3"/>
                    <body name="robotfinger_hook_target">
                        <geom friction="1 1 1" type="mesh" mesh="hook_2" name="hookfinger_2" euler="0 0 0" condim="3" rgba="0.1 0.1 0.1 1"/>
                    </body>
                </body>
            </body>
    </worldbody>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_x_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_y_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_z_slide_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_z_hinge_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_y_hinge_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wrist_x_hinge_joint" />        
	</actuator>
</mujoco>
