<mujoco model="panda">
  <compiler angle="radian" meshdir="assets/"/>

  <option integrator="implicitfast"/>

  <size nkey="3"/>

  <default>
    <default class="panda">
      <material shininess="0.25"/>
      <joint range="-2.8973 2.8973" armature="0.1" damping="1"/>
      <general ctrlrange="-2.8973 2.8973" forcerange="-87 87" biastype="affine"/>
      <default class="finger">
        <joint type="slide" range="0 0.04"/>
      </default>
      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
      </default>
      <default class="collision">
        <geom type="mesh" group="3"/>
        <default class="fingertip_pad_collision_1">
          <geom size="0.0085 0.004 0.0085" type="box"/>
        </default>
        <default class="fingertip_pad_collision_2">
          <geom size="0.003 0.002 0.003" type="box"/>
        </default>
        <default class="fingertip_pad_collision_3">
          <geom size="0.003 0.002 0.003" type="box"/>
        </default>
        <default class="fingertip_pad_collision_4">
          <geom size="0.003 0.002 0.0035" type="box"/>
        </default>
        <default class="fingertip_pad_collision_5">
          <geom size="0.003 0.002 0.0035" type="box"/>
        </default>
      </default>
    </default>
  </default>

  <asset>
    <material name="white" class="panda"/>
    <material name="off_white" class="panda" rgba="0.901961 0.921569 0.929412 1"/>
    <material name="black" class="panda" rgba="0.25 0.25 0.25 1"/>
    <material name="green" class="panda" rgba="0 1 0 1"/>
    <material name="light_blue" class="panda" rgba="0.039216 0.541176 0.780392 1"/>
    <mesh name="link0_c" content_type="model/stl" file="link0.stl"/>
    <mesh name="link1_c" content_type="model/stl" file="link1.stl"/>
    <mesh name="link2_c" content_type="model/stl" file="link2.stl"/>
    <mesh name="link3_c" content_type="model/stl" file="link3.stl"/>
    <mesh name="link4_c" content_type="model/stl" file="link4.stl"/>
    <mesh name="link5_c0" content_type="model/obj" file="link5_collision_0.obj"/>
    <mesh name="link5_c1" content_type="model/obj" file="link5_collision_1.obj"/>
    <mesh name="link5_c2" content_type="model/obj" file="link5_collision_2.obj"/>
    <mesh name="link6_c" content_type="model/stl" file="link6.stl"/>
    <mesh name="link7_c" content_type="model/stl" file="link7.stl"/>
    <mesh name="hand_c" content_type="model/stl" file="hand.stl"/>
    <mesh name="link0_0" content_type="model/obj" file="link0_0.obj"/>
    <mesh name="link0_1" content_type="model/obj" file="link0_1.obj"/>
    <mesh name="link0_2" content_type="model/obj" file="link0_2.obj"/>
    <mesh name="link0_3" content_type="model/obj" file="link0_3.obj"/>
    <mesh name="link0_4" content_type="model/obj" file="link0_4.obj"/>
    <mesh name="link0_5" content_type="model/obj" file="link0_5.obj"/>
    <mesh name="link0_7" content_type="model/obj" file="link0_7.obj"/>
    <mesh name="link0_8" content_type="model/obj" file="link0_8.obj"/>
    <mesh name="link0_9" content_type="model/obj" file="link0_9.obj"/>
    <mesh name="link0_10" content_type="model/obj" file="link0_10.obj"/>
    <mesh name="link0_11" content_type="model/obj" file="link0_11.obj"/>
    <mesh name="link1" content_type="model/obj" file="link1.obj"/>
    <mesh name="link2" content_type="model/obj" file="link2.obj"/>
    <mesh name="link3_0" content_type="model/obj" file="link3_0.obj"/>
    <mesh name="link3_1" content_type="model/obj" file="link3_1.obj"/>
    <mesh name="link3_2" content_type="model/obj" file="link3_2.obj"/>
    <mesh name="link3_3" content_type="model/obj" file="link3_3.obj"/>
    <mesh name="link4_0" content_type="model/obj" file="link4_0.obj"/>
    <mesh name="link4_1" content_type="model/obj" file="link4_1.obj"/>
    <mesh name="link4_2" content_type="model/obj" file="link4_2.obj"/>
    <mesh name="link4_3" content_type="model/obj" file="link4_3.obj"/>
    <mesh name="link5_0" content_type="model/obj" file="link5_0.obj"/>
    <mesh name="link5_1" content_type="model/obj" file="link5_1.obj"/>
    <mesh name="link5_2" content_type="model/obj" file="link5_2.obj"/>
    <mesh name="link6_0" content_type="model/obj" file="link6_0.obj"/>
    <mesh name="link6_1" content_type="model/obj" file="link6_1.obj"/>
    <mesh name="link6_2" content_type="model/obj" file="link6_2.obj"/>
    <mesh name="link6_3" content_type="model/obj" file="link6_3.obj"/>
    <mesh name="link6_4" content_type="model/obj" file="link6_4.obj"/>
    <mesh name="link6_5" content_type="model/obj" file="link6_5.obj"/>
    <mesh name="link6_6" content_type="model/obj" file="link6_6.obj"/>
    <mesh name="link6_7" content_type="model/obj" file="link6_7.obj"/>
    <mesh name="link6_8" content_type="model/obj" file="link6_8.obj"/>
    <mesh name="link6_9" content_type="model/obj" file="link6_9.obj"/>
    <mesh name="link6_10" content_type="model/obj" file="link6_10.obj"/>
    <mesh name="link6_11" content_type="model/obj" file="link6_11.obj"/>
    <mesh name="link6_12" content_type="model/obj" file="link6_12.obj"/>
    <mesh name="link6_13" content_type="model/obj" file="link6_13.obj"/>
    <mesh name="link6_14" content_type="model/obj" file="link6_14.obj"/>
    <mesh name="link6_15" content_type="model/obj" file="link6_15.obj"/>
    <mesh name="link6_16" content_type="model/obj" file="link6_16.obj"/>
    <mesh name="link7_0" content_type="model/obj" file="link7_0.obj"/>
    <mesh name="link7_1" content_type="model/obj" file="link7_1.obj"/>
    <mesh name="link7_2" content_type="model/obj" file="link7_2.obj"/>
    <mesh name="link7_3" content_type="model/obj" file="link7_3.obj"/>
    <mesh name="link7_4" content_type="model/obj" file="link7_4.obj"/>
    <mesh name="link7_5" content_type="model/obj" file="link7_5.obj"/>
    <mesh name="link7_6" content_type="model/obj" file="link7_6.obj"/>
    <mesh name="link7_7" content_type="model/obj" file="link7_7.obj"/>
    <mesh name="hand_0" content_type="model/obj" file="hand_0.obj"/>
    <mesh name="hand_1" content_type="model/obj" file="hand_1.obj"/>
    <mesh name="hand_2" content_type="model/obj" file="hand_2.obj"/>
    <mesh name="hand_3" content_type="model/obj" file="hand_3.obj"/>
    <mesh name="hand_4" content_type="model/obj" file="hand_4.obj"/>
    <mesh name="finger_0" content_type="model/obj" file="finger_0.obj"/>
    <mesh name="finger_1" content_type="model/obj" file="finger_1.obj"/>
  </asset>

  <worldbody>
    <light name="top" pos="0 0 2" dir="0 0 -1" mode="trackcom"/>
    <body name="link00" childclass="panda">
      <inertial pos="-0.041018 -0.00014 0.049974" quat="0.00630474 0.751245 0.00741774 0.659952" mass="0.629769" diaginertia="0.00430465 0.00387984 0.00313051"/>
      <geom class="visual" material="off_white" mesh="link0_0"/>
      <geom class="visual" material="black" mesh="link0_1"/>
      <geom class="visual" material="off_white" mesh="link0_2"/>
      <geom class="visual" material="black" mesh="link0_3"/>
      <geom class="visual" material="off_white" mesh="link0_4"/>
      <geom class="visual" material="black" mesh="link0_5"/>
      <geom class="visual" material="white" mesh="link0_7"/>
      <geom class="visual" material="white" mesh="link0_8"/>
      <geom class="visual" material="black" mesh="link0_9"/>
      <geom class="visual" material="off_white" mesh="link0_10"/>
      <geom class="visual" material="white" mesh="link0_11"/>
      <geom class="collision" mesh="link0_c"/>
      <body name="link10" pos="0 0 0.333">
        <inertial pos="0.003875 0.002081 -0.04762" quat="0.711549 0.00634377 -0.0131124 0.702485" mass="4.97068" diaginertia="0.707137 0.703435 0.00852456"/>
        <joint name="joint10" pos="0 0 0" axis="0 0 1"/>
        <geom class="visual" material="white" mesh="link1"/>
        <geom class="collision" mesh="link1_c"/>
        <body name="link20" quat="0.707107 -0.707107 0 0">
          <inertial pos="-0.003141 -0.02872 0.003495" quat="-0.168175 0.828366 -0.122878 0.520027" mass="0.646926" diaginertia="0.0310326 0.0283001 0.00273425"/>
          <joint name="joint20" pos="0 0 0" axis="0 0 1" range="-1.7628 1.7628"/>
          <geom class="visual" material="white" mesh="link2"/>
          <geom class="collision" mesh="link2_c"/>
          <body name="link30" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
            <inertial pos="0.027518 0.039252 -0.066502" quat="0.662769 -0.00678331 0.252053 0.705096" mass="3.2286" diaginertia="0.0415014 0.0414793 0.00124635"/>
            <joint name="joint30" pos="0 0 0" axis="0 0 1"/>
            <geom class="visual" material="white" mesh="link3_0"/>
            <geom class="visual" material="white" mesh="link3_1"/>
            <geom class="visual" material="white" mesh="link3_2"/>
            <geom class="visual" material="black" mesh="link3_3"/>
            <geom class="collision" mesh="link3_c"/>
            <body name="link40" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
              <inertial pos="-0.05317 0.104419 0.027454" quat="0.65058 0.529822 -0.0962034 0.535518" mass="3.5879" diaginertia="0.0349596 0.0281483 0.0106201"/>
              <joint name="joint40" pos="0 0 0" axis="0 0 1" range="-3.0718 -0.0698"/>
              <geom class="visual" material="white" mesh="link4_0"/>
              <geom class="visual" material="white" mesh="link4_1"/>
              <geom class="visual" material="black" mesh="link4_2"/>
              <geom class="visual" material="white" mesh="link4_3"/>
              <geom class="collision" mesh="link4_c"/>
              <body name="link50" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                <inertial pos="-0.011953 0.041065 -0.038437" quat="0.987313 -0.0121954 0.0719187 -0.141037" mass="1.22595" diaginertia="0.0367625 0.0288531 0.00803437"/>
                <joint name="joint50" pos="0 0 0" axis="0 0 1"/>
                <geom class="visual" material="black" mesh="link5_0"/>
                <geom class="visual" material="white" mesh="link5_1"/>
                <geom class="visual" material="white" mesh="link5_2"/>
                <geom class="collision" mesh="link5_c0"/>
                <geom class="collision" mesh="link5_c1"/>
                <geom class="collision" mesh="link5_c2"/>
                <body name="link60" quat="0.707107 0.707107 0 0">
                  <inertial pos="0.060149 -0.014117 -0.010517" quat="0.101075 0.59332 0.0287227 0.798079" mass="1.66656" diaginertia="0.00584276 0.00431037 0.00159787"/>
                  <joint name="joint60" pos="0 0 0" axis="0 0 1" range="-0.0175 3.7525"/>
                  <geom class="visual" material="off_white" mesh="link6_0"/>
                  <geom class="visual" material="white" mesh="link6_1"/>
                  <geom class="visual" material="black" mesh="link6_2"/>
                  <geom class="visual" material="white" mesh="link6_3"/>
                  <geom class="visual" material="white" mesh="link6_4"/>
                  <geom class="visual" material="white" mesh="link6_5"/>
                  <geom class="visual" material="white" mesh="link6_6"/>
                  <geom class="visual" material="light_blue" mesh="link6_7"/>
                  <geom class="visual" material="light_blue" mesh="link6_8"/>
                  <geom class="visual" material="black" mesh="link6_9"/>
                  <geom class="visual" material="black" mesh="link6_10"/>
                  <geom class="visual" material="white" mesh="link6_11"/>
                  <geom class="visual" material="green" mesh="link6_12"/>
                  <geom class="visual" material="white" mesh="link6_13"/>
                  <geom class="visual" material="black" mesh="link6_14"/>
                  <geom class="visual" material="black" mesh="link6_15"/>
                  <geom class="visual" material="white" mesh="link6_16"/>
                  <geom class="collision" mesh="link6_c"/>
                  <body name="link70" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
                    <inertial pos="0.010517 -0.004252 0.061597" quat="0.992939 -0.0762041 0.0733595 -0.0537067" mass="0.735522" diaginertia="0.0127345 0.0101055 0.00451803"/>
                    <joint name="joint70" pos="0 0 0" axis="0 0 1"/>
                    <geom class="visual" material="white" mesh="link7_0"/>
                    <geom class="visual" material="black" mesh="link7_1"/>
                    <geom class="visual" material="black" mesh="link7_2"/>
                    <geom class="visual" material="black" mesh="link7_3"/>
                    <geom class="visual" material="black" mesh="link7_4"/>
                    <geom class="visual" material="black" mesh="link7_5"/>
                    <geom class="visual" material="black" mesh="link7_6"/>
                    <geom class="visual" material="white" mesh="link7_7"/>
                    <geom class="collision" mesh="link7_c"/>
                    <body name="hand0" pos="0 0 0.107" quat="0.92388 0 0 -0.382683">
                      <inertial pos="-0.01 0 0.03" mass="0.73" diaginertia="0.001 0.0025 0.0017"/>
                      <geom class="visual" material="off_white" mesh="hand_0"/>
                      <geom class="visual" material="black" mesh="hand_1"/>
                      <geom class="visual" material="black" mesh="hand_2"/>
                      <geom class="visual" material="white" mesh="hand_3"/>
                      <geom class="visual" material="off_white" mesh="hand_4"/>
                      <geom class="collision" mesh="hand_c"/>
                      <body name="left_finger0" pos="0 0 0.0584">
                        <inertial pos="0 0 0" mass="0.015" diaginertia="2.375e-06 2.375e-06 7.5e-07"/>
                        <joint name="finger_joint10" class="finger" pos="0 0 0" axis="0 1 0"/>
                        <geom class="visual" material="off_white" mesh="finger_0"/>
                        <geom class="visual" material="black" mesh="finger_1"/>
                        <geom class="collision" mesh="finger_0"/>
                        <geom class="fingertip_pad_collision_1" pos="0 0.0055 0.0445"/>
                        <geom class="fingertip_pad_collision_2" pos="0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_3" pos="-0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_4" pos="0.0055 0.002 0.0395"/>
                        <geom class="fingertip_pad_collision_5" pos="-0.0055 0.002 0.0395"/>
                      </body>
                      <body name="right_finger0" pos="0 0 0.0584" quat="0 0 0 1">
                        <inertial pos="0 0 0" mass="0.015" diaginertia="2.375e-06 2.375e-06 7.5e-07"/>
                        <joint name="finger_joint20" class="finger" pos="0 0 0" axis="0 1 0"/>
                        <geom class="visual" material="off_white" mesh="finger_0"/>
                        <geom class="visual" material="black" mesh="finger_1"/>
                        <geom class="collision" mesh="finger_0"/>
                        <geom class="fingertip_pad_collision_1" pos="0 0.0055 0.0445"/>
                        <geom class="fingertip_pad_collision_2" pos="0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_3" pos="-0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_4" pos="0.0055 0.002 0.0395"/>
                        <geom class="fingertip_pad_collision_5" pos="-0.0055 0.002 0.0395"/>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
    <body name="link01" childclass="panda" pos="0 0.8 0">
      <inertial pos="-0.041018 -0.00014 0.049974" quat="0.00630474 0.751245 0.00741774 0.659952" mass="0.629769" diaginertia="0.00430465 0.00387984 0.00313051"/>
      <geom class="visual" material="off_white" mesh="link0_0"/>
      <geom class="visual" material="black" mesh="link0_1"/>
      <geom class="visual" material="off_white" mesh="link0_2"/>
      <geom class="visual" material="black" mesh="link0_3"/>
      <geom class="visual" material="off_white" mesh="link0_4"/>
      <geom class="visual" material="black" mesh="link0_5"/>
      <geom class="visual" material="white" mesh="link0_7"/>
      <geom class="visual" material="white" mesh="link0_8"/>
      <geom class="visual" material="black" mesh="link0_9"/>
      <geom class="visual" material="off_white" mesh="link0_10"/>
      <geom class="visual" material="white" mesh="link0_11"/>
      <geom class="collision" mesh="link0_c"/>
      <body name="link11" pos="0 0 0.333">
        <inertial pos="0.003875 0.002081 -0.04762" quat="0.711549 0.00634377 -0.0131124 0.702485" mass="4.97068" diaginertia="0.707137 0.703435 0.00852456"/>
        <joint name="joint11" pos="0 0 0" axis="0 0 1"/>
        <geom class="visual" material="white" mesh="link1"/>
        <geom class="collision" mesh="link1_c"/>
        <body name="link21" quat="0.707107 -0.707107 0 0">
          <inertial pos="-0.003141 -0.02872 0.003495" quat="-0.168175 0.828366 -0.122878 0.520027" mass="0.646926" diaginertia="0.0310326 0.0283001 0.00273425"/>
          <joint name="joint21" pos="0 0 0" axis="0 0 1" range="-1.7628 1.7628"/>
          <geom class="visual" material="white" mesh="link2"/>
          <geom class="collision" mesh="link2_c"/>
          <body name="link31" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
            <inertial pos="0.027518 0.039252 -0.066502" quat="0.662769 -0.00678331 0.252053 0.705096" mass="3.2286" diaginertia="0.0415014 0.0414793 0.00124635"/>
            <joint name="joint31" pos="0 0 0" axis="0 0 1"/>
            <geom class="visual" material="white" mesh="link3_0"/>
            <geom class="visual" material="white" mesh="link3_1"/>
            <geom class="visual" material="white" mesh="link3_2"/>
            <geom class="visual" material="black" mesh="link3_3"/>
            <geom class="collision" mesh="link3_c"/>
            <body name="link41" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
              <inertial pos="-0.05317 0.104419 0.027454" quat="0.65058 0.529822 -0.0962034 0.535518" mass="3.5879" diaginertia="0.0349596 0.0281483 0.0106201"/>
              <joint name="joint41" pos="0 0 0" axis="0 0 1" range="-3.0718 -0.0698"/>
              <geom class="visual" material="white" mesh="link4_0"/>
              <geom class="visual" material="white" mesh="link4_1"/>
              <geom class="visual" material="black" mesh="link4_2"/>
              <geom class="visual" material="white" mesh="link4_3"/>
              <geom class="collision" mesh="link4_c"/>
              <body name="link51" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                <inertial pos="-0.011953 0.041065 -0.038437" quat="0.987313 -0.0121954 0.0719187 -0.141037" mass="1.22595" diaginertia="0.0367625 0.0288531 0.00803437"/>
                <joint name="joint51" pos="0 0 0" axis="0 0 1"/>
                <geom class="visual" material="black" mesh="link5_0"/>
                <geom class="visual" material="white" mesh="link5_1"/>
                <geom class="visual" material="white" mesh="link5_2"/>
                <geom class="collision" mesh="link5_c0"/>
                <geom class="collision" mesh="link5_c1"/>
                <geom class="collision" mesh="link5_c2"/>
                <body name="link61" quat="0.707107 0.707107 0 0">
                  <inertial pos="0.060149 -0.014117 -0.010517" quat="0.101075 0.59332 0.0287227 0.798079" mass="1.66656" diaginertia="0.00584276 0.00431037 0.00159787"/>
                  <joint name="joint61" pos="0 0 0" axis="0 0 1" range="-0.0175 3.7525"/>
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                  <geom class="visual" material="white" mesh="link6_1"/>
                  <geom class="visual" material="black" mesh="link6_2"/>
                  <geom class="visual" material="white" mesh="link6_3"/>
                  <geom class="visual" material="white" mesh="link6_4"/>
                  <geom class="visual" material="white" mesh="link6_5"/>
                  <geom class="visual" material="white" mesh="link6_6"/>
                  <geom class="visual" material="light_blue" mesh="link6_7"/>
                  <geom class="visual" material="light_blue" mesh="link6_8"/>
                  <geom class="visual" material="black" mesh="link6_9"/>
                  <geom class="visual" material="black" mesh="link6_10"/>
                  <geom class="visual" material="white" mesh="link6_11"/>
                  <geom class="visual" material="green" mesh="link6_12"/>
                  <geom class="visual" material="white" mesh="link6_13"/>
                  <geom class="visual" material="black" mesh="link6_14"/>
                  <geom class="visual" material="black" mesh="link6_15"/>
                  <geom class="visual" material="white" mesh="link6_16"/>
                  <geom class="collision" mesh="link6_c"/>
                  <body name="link71" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
                    <inertial pos="0.010517 -0.004252 0.061597" quat="0.992939 -0.0762041 0.0733595 -0.0537067" mass="0.735522" diaginertia="0.0127345 0.0101055 0.00451803"/>
                    <joint name="joint71" pos="0 0 0" axis="0 0 1"/>
                    <geom class="visual" material="white" mesh="link7_0"/>
                    <geom class="visual" material="black" mesh="link7_1"/>
                    <geom class="visual" material="black" mesh="link7_2"/>
                    <geom class="visual" material="black" mesh="link7_3"/>
                    <geom class="visual" material="black" mesh="link7_4"/>
                    <geom class="visual" material="black" mesh="link7_5"/>
                    <geom class="visual" material="black" mesh="link7_6"/>
                    <geom class="visual" material="white" mesh="link7_7"/>
                    <geom class="collision" mesh="link7_c"/>
                    <body name="hand1" pos="0 0 0.107" quat="0.92388 0 0 -0.382683">
                      <inertial pos="-0.01 0 0.03" mass="0.73" diaginertia="0.001 0.0025 0.0017"/>
                      <geom class="visual" material="off_white" mesh="hand_0"/>
                      <geom class="visual" material="black" mesh="hand_1"/>
                      <geom class="visual" material="black" mesh="hand_2"/>
                      <geom class="visual" material="white" mesh="hand_3"/>
                      <geom class="visual" material="off_white" mesh="hand_4"/>
                      <geom class="collision" mesh="hand_c"/>
                      <body name="left_finger1" pos="0 0 0.0584">
                        <inertial pos="0 0 0" mass="0.015" diaginertia="2.375e-06 2.375e-06 7.5e-07"/>
                        <joint name="finger_joint11" class="finger" pos="0 0 0" axis="0 1 0"/>
                        <geom class="visual" material="off_white" mesh="finger_0"/>
                        <geom class="visual" material="black" mesh="finger_1"/>
                        <geom class="collision" mesh="finger_0"/>
                        <geom class="fingertip_pad_collision_1" pos="0 0.0055 0.0445"/>
                        <geom class="fingertip_pad_collision_2" pos="0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_3" pos="-0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_4" pos="0.0055 0.002 0.0395"/>
                        <geom class="fingertip_pad_collision_5" pos="-0.0055 0.002 0.0395"/>
                      </body>
                      <body name="right_finger1" pos="0 0 0.0584" quat="0 0 0 1">
                        <inertial pos="0 0 0" mass="0.015" diaginertia="2.375e-06 2.375e-06 7.5e-07"/>
                        <joint name="finger_joint21" class="finger" pos="0 0 0" axis="0 1 0"/>
                        <geom class="visual" material="off_white" mesh="finger_0"/>
                        <geom class="visual" material="black" mesh="finger_1"/>
                        <geom class="collision" mesh="finger_0"/>
                        <geom class="fingertip_pad_collision_1" pos="0 0.0055 0.0445"/>
                        <geom class="fingertip_pad_collision_2" pos="0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_3" pos="-0.0055 0.002 0.05"/>
                        <geom class="fingertip_pad_collision_4" pos="0.0055 0.002 0.0395"/>
                        <geom class="fingertip_pad_collision_5" pos="-0.0055 0.002 0.0395"/>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <contact>
    <exclude body1="link00" body2="link10"/>
    <exclude body1="link01" body2="link11"/>
  </contact>

  <equality>
    <joint joint1="finger_joint10" joint2="finger_joint20" polycoef="0 1 0 0 0" solref="0.005" solimp="0.95 0.99"/>
    <joint joint1="finger_joint11" joint2="finger_joint21" polycoef="0 1 0 0 0" solref="0.005" solimp="0.95 0.99"/>
  </equality>

  <tendon>
    <fixed name="split0">
      <joint joint="finger_joint10" coef="0.5"/>
      <joint joint="finger_joint20" coef="0.5"/>
    </fixed>
    <fixed name="split1">
      <joint joint="finger_joint11" coef="0.5"/>
      <joint joint="finger_joint21" coef="0.5"/>
    </fixed>
  </tendon>

  <actuator>
    <general name="actuator10" class="panda" joint="joint10" gainprm="4500" biasprm="0 -4500 -450"/>
    <general name="actuator20" class="panda" joint="joint20" ctrlrange="-1.7628 1.7628" gainprm="4500" biasprm="0 -4500 -450"/>
    <general name="actuator30" class="panda" joint="joint30" gainprm="3500" biasprm="0 -3500 -350"/>
    <general name="actuator40" class="panda" joint="joint40" ctrlrange="-3.0718 -0.0698" gainprm="3500" biasprm="0 -3500 -350"/>
    <general name="actuator50" class="panda" joint="joint50" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator60" class="panda" joint="joint60" ctrlrange="-0.0175 3.7525" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator70" class="panda" joint="joint70" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator80" class="panda" tendon="split0" ctrlrange="0 255" forcerange="-100 100" gainprm="0.0156863" biasprm="0 -100 -10"/>
    <general name="actuator11" class="panda" joint="joint11" gainprm="4500" biasprm="0 -4500 -450"/>
    <general name="actuator21" class="panda" joint="joint21" ctrlrange="-1.7628 1.7628" gainprm="4500" biasprm="0 -4500 -450"/>
    <general name="actuator31" class="panda" joint="joint31" gainprm="3500" biasprm="0 -3500 -350"/>
    <general name="actuator41" class="panda" joint="joint41" ctrlrange="-3.0718 -0.0698" gainprm="3500" biasprm="0 -3500 -350"/>
    <general name="actuator51" class="panda" joint="joint51" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator61" class="panda" joint="joint61" ctrlrange="-0.0175 3.7525" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator71" class="panda" joint="joint71" forcerange="-12 12" gainprm="2000" biasprm="0 -2000 -200"/>
    <general name="actuator81" class="panda" tendon="split1" ctrlrange="0 255" forcerange="-100 100" gainprm="0.0156863" biasprm="0 -100 -10"/>
  </actuator>

  <keyframe>
    <key name="home0" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0.04 0.04 0 0 0 0 0 0 0 0 0"/>
    <key name="home1" qpos="0 0 0 0 0 0 0 0 0 0 0 0 -1.57079 0 1.57079 -0.7853 0.04 0.04"/>
    <key name="home"/>
  </keyframe>
</mujoco>
