<!-- Modified from the original source code at
        1) https://github.com/vikashplus/franka
    which was originally written by Vikash Kumar and licensed under the Apache License= -->

<!-- ORIGINAL LICENSE: ===========Copyright | Vikash Kumar | vikashplus@gmail.com | Google LLC ==============
    Model       :: Bi-Franka Panda

    Mujoco      :: Advanced physics simulation engine
        Source      : www.roboti.us
        Version     : 2.00
        Released    : 1Oct"18

    Author      :: Vikash Kumar
        Contacts    : vikashplus@gmail.com
        Last edits  : 14Dec"18

    source:
        1) https://github.com/vikashplus/franka
        2) https://github.com/frankaemika/franka_ros
        3) https://github.com/StanfordASL/PandaRobot.jl

    Copyright 2018 Vikash Kumar
        Licensed 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.
================================================================================= -->

<mujoco model="franka_panda v200">

    <include file="assets/basic_scene.xml"/>
    <include file="assets/assets.xml"/>
    <compiler meshdir=""/>

    <equality>
      <weld body1="vive_controller" body2="panda0_link7" solref="0.01 1" solimp=".25 .25 0.001"/>
    </equality>


    <worldbody>
        <!-- Mocap -->
        <body name="vive_controller" mocap="true" pos="0 0 1.895" euler="-1.57 0 -.785">
            <geom type="box" group="2" pos='0 0 .142' size="0.02 0.10 0.03" contype="0" conaffinity="0" rgba=".9 .7 .95 .2" euler="0 0 -.785"/>
        </body>

        <!-- Robot -->
        <body pos='0 0 .775' euler='0 0 1.57'>
            <geom type='cylinder' size='.120 .4' pos='-.04 0 -.4'/>
            <include file="assets/chain0.xml"/>
            <include file="assets/chain0_overlay.xml"/>
        </body>

    </worldbody>


    <include file='assets/teleop_actuator.xml'/>
</mujoco>
