<mujoco model="umi_v2">
  <compiler angle="radian" meshdir="./" />
  <asset>
    <mesh name="st3215" content_type="model/stl" file="st3215.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_holder" content_type="model/stl" file="gnode_v2_holder.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_enpire_fixed" content_type="model/stl" file="gnode_v2_enpire_fixed.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_fixed_riser" content_type="model/stl" file="gnode_v2_fixed_riser.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_fixed_plate" content_type="model/stl" file="gnode_v2_fixed_plate.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_handle_column" content_type="model/stl" file="gnode_v2_handle_column.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_aruco_cube_shelled" content_type="model/stl" file="gnode_v2_aruco_cube_shelled.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_cam_conn" content_type="model/stl" file="gnode_v2_cam_conn.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_mount" content_type="model/stl" file="gnode_v2_camera_mount.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_body" content_type="model/stl" file="gnode_v2_camera_body.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_camera_cover" content_type="model/stl" file="gnode_v2_camera_cover.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_yoke" content_type="model/stl" file="gnode_v2_yoke.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_yoke_conn" content_type="model/stl" file="gnode_v2_yoke_conn.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_enpire_moving" content_type="model/stl" file="gnode_v2_enpire_moving.stl" scale="0.001 0.001 0.001" />
    <mesh name="gnode_v2_thumb_cradle" content_type="model/stl" file="gnode_v2_thumb_cradle.stl" scale="0.001 0.001 0.001" />
    <texture name="ar_back" type="2d" file="aruco_umi_v2_grid.png" />
    <material name="ar_back" texture="ar_back" />
    <mesh name="aruco_plane" file="aruco_plane.obj" scale="0.40000 0.26667 0.001" inertia="shell" />
    <texture name="floor" type="2d" builtin="checker" rgb1="0.25 0.3 0.35" rgb2="0.18 0.22 0.26" width="300" height="300" />
    <material name="floor" texture="floor" texuniform="true" texrepeat="6 6" />
  </asset>
  <worldbody>
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    <geom pos="0 0 0" quat="0.707105 -0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.55 0.75 0.6 1" mesh="gnode_v2_enpire_fixed" />
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    <body name="jaw_link" pos="-0.0255 0 0" quat="0.707105 -0.707108 0 0">
      <inertial pos="0 0 0" mass="0.05" diaginertia="1e-05 1e-05 1e-05" />
      <joint name="jaw" pos="0 0 0" axis="0 1 0" range="-0.9 0.1" actuatorfrcrange="-3 3" />
      <geom pos="0.0255 0 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.9 0.65 0.2 1" mesh="gnode_v2_yoke" />
      <geom pos="0.0255 0 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.85 0.3 0.3 1" mesh="gnode_v2_yoke_conn" />
      <geom pos="0.0255 0 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.55 0.6 0.85 1" mesh="gnode_v2_enpire_moving" />
      <geom pos="0.0255 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.9 0.4 0.3 1" mesh="gnode_v2_thumb_cradle" />
    </body>
    <geom type="mesh" mesh="aruco_plane" material="ar_back" pos="0.0504 0.0000 0.0494" euler="0 1.5708 0" contype="0" conaffinity="0" />
    <camera name="wrist_cam" pos="-0.0039 0.0050 0.1039" xyaxes="0.0000 1.0000 0.0000 -0.3401 0.0000 0.9404" fovy="47" />
    <geom type="plane" size="1 1 0.05" pos="0 0 -0.25" material="floor" />
    <geom type="box" size="0.015 0.015 0.015" pos="-0.17 0 -0.02" rgba="0.85 0.3 0.25 1" contype="0" conaffinity="0" />
    <light pos="0.3 0.3 0.8" dir="-0.3 -0.3 -1" />
    <site name="tcp" pos="-0.1570 0.0248 0.0077" size="0.004" rgba="0.1 0.9 0.2 0.8" group="1" />
  </worldbody>
  <visual>
    <global offwidth="1600" offheight="1200" />
    <headlight ambient="0.5 0.5 0.5" />
  </visual>
  <actuator>
    <position joint="jaw" kp="5" kv="0.4" ctrlrange="-0.9 0.1" name="jaw" />
  </actuator>
</mujoco>