<mujoco model="so_gripper_only">
  <compiler angle="radian" meshdir="robot_models/so100_model/assets/"/>

  <option cone="elliptic" impratio="10"/>

  <asset>
    <material name="white" rgba="1 1 1 1"/>
    <material name="black" rgba="0.1 0.1 0.1 1"/>

    <mesh name="Base" file="Base.stl"/>
    <mesh name="Base_Motor" file="Base_Motor.stl"/>
    <mesh name="Fixed_Jaw" file="Fixed_Jaw.stl"/>
    <mesh name="Fixed_Jaw_Motor" file="Fixed_Jaw_Motor.stl"/>
    <mesh name="Fixed_Jaw_Collision_1" file="Fixed_Jaw_Collision_1.stl"/>
    <mesh name="Fixed_Jaw_Collision_2" file="Fixed_Jaw_Collision_2.stl"/>
  </asset>

  <default>
    <default class="gripper_only">
      <joint frictionloss="0.1" armature="0.1"/>
      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="white"/>
        <default class="motor_visual">
          <geom material="black"/>
        </default>
      </default>
      <default class="collision">
        <geom group="3" type="mesh" material="white"/>
        <default class="finger_collision">
          <geom type="box" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
        </default>
      </default>
    </default>
  </default>

  <worldbody>
    <body name="Base" childclass="gripper_only">
      <geom type="mesh" mesh="Base" class="visual" rgba="0 0 1 0"/>
      <body name="Fixed_Jaw" pos="0 0 0.026" euler="0 1.57079 0" >
        <inertial pos="0 0 0" mass="0.0929859" diaginertia="5.03136e-05 4.64098e-05 2.72961e-05"/>
        <geom type="mesh" mesh="Fixed_Jaw" class="visual" rgba="0 0 1 0"/>
        <!-- Example finger collision geoms on fixed jaw (can adjust or remove as needed) -->
      </body>
    </body>
  </worldbody>

  <!-- No actuators or joints, as requested (no movement) -->

  <!-- No additional contacts or keyframes, as model is static with just base+gripper -->

</mujoco>
